Task: To clean a tea pot and store it on the second shelf from the bottom on the wall.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.900          -0.5           0              0              0
   1  Vase            -0.898         1.653          -2.604         0              0              0              65
   2  CreditCard      -1.696         0.791          0.199          0              90             0              48
   3  Cup             -0.848         0.909          -2.713         0              0              0              76
   4  Cup             -0.912         0.134          -2.402         0              0              0              69
   5  Tomato          -1.999         0.265          1.085          0              90             0              84
   6  SoapBottle      -1.653         0.155          -0.149         0              90             0              74
   7  SoapBottle      2.096          0.881          -2.563         0              180            0              78
   8  Knife           1.098          0.936          -2.637         0              90             0              53
   9  Spoon           0.217          1.112          -0.506         0              0              0              51
  10  Mug             -1.290         0.906          -2.637         0              0              0              76
  11  Spatula         -1.693         0.926          -2.036         0              0              0              76
  12  ButterKnife     0.217          1.111          -0.253         0              0              0              51
  13  Kettle          -0.036         0.950          -2.576         0              270            0              54
  14  WineBottle      0.355          1.112          -0.001         0              0              0              51
  15  Bowl            0.506          0.137          -2.436         0              0              0              68
  16  Book            0.155          1.1            0.617          0              315            0              51
  17  Glassbottle     0.324          0.911          -2.253         0              0              0              53
  18  Knife           0.840          0.936          -2.407         0              180            0              53
  19  Bread           -0.522         1.170          -0.028         0              0              0              51
  20  Fork            0.840          0.911          -2.560         0              180            0              53
  21  Potato          -0.173         1.820          -2.578         0              0              0              77
  22  SoapBottle      1.582          0.554          -2.718         0              180            0              81
  23  Kettle          -0.465         0.950          -2.372         0              90             0              49
  24  Pan             0.721          0.9            -2.415         0              0              0              53
  25  Plate           -0.335         1.108          -0.759         0              0              0              51
  26  Tomato          -1.935         0.087          1.933          0              270            0              82
  27  Vase            -0.335         1.113          -0.506         0              0              0              51
  28  Egg             -0.995         0.946          -2.406         0              0              0              76
  29  CreditCard      -0.473         1.108          0.757          0              0              0              51
  30  Statue          1.955          0.168          -2.543         0              0              0              83
  31  WineBottle      -1.864         0.130          0.248          0              90             0              57
  32  Pot             -2.080         0.544          0.920          0              90             0              84
  33  Spatula         0.079          1.126          0.251          0              0              0              51
  34  PaperTowelRoll  -0.197         1.215          0.757          0              0              0              51
  35  Cup             -2.121         0.538          1.251          0              90             0              84
  36  Vase            0.453          0.908          -2.407         0              0              0              53
  37  Bowl            -2.122         1.499          1.008          0              90             0              84
  38  SaltShaker      -1.937         0.907          -0.698         0              0              0              76
  39  PepperShaker    -1.574         0.907          -1.869         0              0              0              76
  40  Lettuce         0.079          1.191          -0.759         0              0              0              51
  41  ButterKnife     -0.335         1.111          0.504          0              0              0              51
  42  Apple           -2.019         0.961          -0.513         0              0              0              76
  43  DishSponge      -2.019         0.910          -2.036         0              0              0              76
  44  Spoon           0.893          0.316          -2.383         0              0              0              55
  45  Mug             -1.731         0.956          -0.168         0              90             0              85
  46  StoveBurner     -0.036         0.915          -2.372         0              0              0
  47  Drawer          0.949          0.832          -2.197         0              0              0
  48  Drawer          -1.560         0.839          0.204          0              90             0
  49  StoveBurner     -0.465         0.915          -2.371         0              180            0
  50  Drawer          -1.560         0.839          -0.197         0              90             0
  51  CounterTop      -0.079         1.147          -0.001         0              0              0
  52  Cabinet         -1.549         0.494          -1.964         0              90             0
  53  CounterTop      0.693          0.946          -2.483         0              0              0
  54  StoveBurner     -0.036         0.915          -2.576         0              0              0
  55  Drawer          0.949          0.393          -2.200         0              0              0
  56  Drawer          0.949          0.708          -2.200         0              0              0
  57  Cabinet         -1.549         0.494          0.379          0              90             0
  58  StoveKnob       -0.022         0.881          -2.187         45             0              0
  59  Drawer          0.949          0.560          -2.201         0              0              0
  60  StoveBurner     -0.465         0.915          -2.575         0              180            0
  61  Window          -2.230         1.429          -1.203         0              0              0
  62  StoveKnob       -0.483         0.881          -2.187         45             0              0
  63  Sink            -1.899         0.964          -1.5           0              90             0
  64  StoveKnob       -0.328         0.881          -2.187         45             0              0
  65  Cabinet         -0.727         2.015          -2.460         0              0              0
  66  Drawer          -1.560         0.655          -0.196         0              90             0
  67  Cabinet         -1.685         2.015          -2.461         0              0              0
  68  Cabinet         0.680          0.494          -2.200         0              0              0
  69  Cabinet         -1.179         0.494          -2.200         0              0              0
  70  Cabinet         -1.849         2.015          0.379          0              90             0
  71  Drawer          0.949          0.221          -2.200         0              0              0
  72  StoveKnob       -0.183         0.881          -2.187         45             0              0
  73  Cabinet         0.719          2.015          -2.460         0              0              0
  74  Drawer          -1.560         0.331          -0.196         0              90             0
  75  Cabinet         0.680          2.015          -2.460         0              0              0
  76  CounterTop      -1.868         0.946          -1.205         0              0              0
  77  Microwave       -0.236         1.689          -2.525         0              0              0
  78  Shelf           1.751          0.880          -2.560         0              0              0
  79  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  80  Toaster         -1.835         0.900          0.134          0              90             0
  81  Shelf           1.750          0.552          -2.559         0              0              0
  82  GarbageCan      -1.935         -0.002         2.029          0              270            0
  83  Shelf           1.750          0.172          -2.559         0              0              0
  84  Fridge          -2.096         0.0            1.088          0              0              0
  85  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  86  SinkBasin       -1.908         0.759          -1.488         0              90             0
  87  LightSwitch     2.329          1.309          -0.159         0              270            0
  88  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  89  Stool           0.702          0.000          -0.514         1.202          65.108         0
  90  Stool           0.743          0.000          0.563          1.227          106.706        0
  91  Faucet          -2.070         1.132          -1.514         0              0              0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn left and walk around the left side of the center table and turn left to face the stove. | STEP 2: Pick up the tea pot on the front right burner. | STEP 3: Turn right and walk forward to face the sink. | STEP 4: Wash the tea pot in the sink, then pick it back up. | STEP 5: Turn around, walk across the room and turn to the right to face the shelves. | STEP 6: Place the tea pot on the second shelf from the bottom. | END