Task: clean a glass and put it on the shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          0.75           0              90             0
   1  Vase            -0.059         1.109          -0.253         0              0              0              67
   2  CreditCard      1.891          0.877          -2.590         0              180            0              94
   3  CreditCard      -1.784         0.791          -0.302         0              90             0              66
   4  Plate           0.582          0.907          -2.637         0              0              0              69
   5  Cup             -0.473         1.109          0.757          0              0              0              67
   6  Cup             -1.143         0.909          -2.560         0              0              0              92
   7  Cup             0.951          1.658          -2.600         0              0              0              89
   8  Egg             -0.225         1.825          -2.482         0              0              0              93
   9  Egg             -1.995         0.833          0.920          0              90             0              100
  10  SaltShaker      -1.346         1.654          -2.604         0              0              0              83
  11  PepperShaker    1.582          0.549          -2.459         0              180            0              97
  12  Bread           -2.081         1.575          1.092          0              90             0              100
  13  Apple           -1.962         0.098          1.981          0              270            0              98
  14  Apple           -1.852         0.820          -1.760         0              90             0              102
  15  Knife           -1.908         0.795          -1.328         0              270            0              102
  16  Knife           -2.019         0.936          0.230          0              270            0              92
  17  Fork            0.892          0.143          -2.382         0              0              0              87
  18  Mug             -1.731         0.956          -0.168         0              90             0              101
  19  Spatula         0.582          0.925          -2.484         0              0              0              69
  20  Pot             -2.070         1.310          1.092          0              90             0              100
  21  Pot             0.079          1.115          -0.759         0              0              0              67
  22  ButterKnife     -1.733         0.911          -2.560         0              0              0              92
  23  Kettle          -0.465         0.950          -2.576         0              90             0              76
  24  Kettle          -0.036         0.950          -2.372         0              270            0              62
  25  Glassbottle     1.893          0.553          -2.614         0              180            0              97
  26  Glassbottle     -1.963         0.770          -1.673         0              90             0              102
  27  WineBottle      0.324          0.911          -2.714         0              0              0              69
  28  WineBottle      -1.200         0.137          -2.301         0              0              0              85
  29  DishSponge      -1.963         0.769          -1.501         0              90             0              102
  30  Bowl            0.560          1.656          -2.596         0              0              0              91
  31  Bowl            -0.912         0.133          -2.301         0              0              0              85
  32  Book            0.155          1.1            0.617          0              315            0              67
  33  Glassbottle     0.453          0.911          -2.253         0              0              0              69
  34  Knife           -0.059         1.136          0.251          0              0              0              67
  35  Bread           -1.774         0.983          -0.513         0              0              0              92
  36  Fork            1.006          0.777          -2.420         0              180            0              63
  37  Potato          -1.742         0.800          -1.673         0              90             0              102
  38  SoapBottle      -1.935         0.048          2.124          0              270            0              98
  39  Kettle          -0.465         0.950          -2.372         0              90             0              65
  40  Pan             0.721          0.9            -2.415         0              0              0              69
  41  Plate           -0.473         1.108          -0.506         0              0              0              67
  42  Tomato          0.324          0.949          -2.330         0              0              0              69
  43  Vase            -0.197         1.113          -0.506         0              0              0              67
  44  Egg             -1.852         0.804          -1.673         0              90             0              102
  45  CreditCard      0.079          1.108          -0.759         0              0              0              67
  46  Statue          1.955          0.168          -2.543         0              0              0              99
  47  WineBottle      0.969          0.911          -2.330         0              0              0              69
  48  Pot             -1.219         0.9            -2.356         0              0              0              92
  49  Spatula         0.355          1.126          -0.001         0              0              0              67
  50  PaperTowelRoll  1.482          0.985          -2.617         0              180            0              94
  51  Cup             -1.457         1.656          -2.677         0              0              0              83
  52  Vase            -1.765         0.127          0.248          0              90             0              73
  53  Bowl            -0.335         1.108          0.251          0              0              0              67
  54  SaltShaker      1.686          0.877          -2.509         0              180            0              94
  55  PepperShaker    -1.609         0.150          -0.293         0              90             0              90
  56  Lettuce         -0.335         1.191          -0.253         0              0              0              67
  57  ButterKnife     -1.740         0.154          -0.197         0              90             0              90
  58  Apple           -1.997         0.591          0.837          0              90             0              100
  59  DishSponge      2.096          0.880          -2.590         0              180            0              97
  60  Spoon           -0.848         0.912          -2.253         0              0              0              92
  61  Mug             -2.018         0.764          -1.242         0              180            0              102
  62  StoveBurner     -0.036         0.915          -2.372         0              0              0
  63  Drawer          0.949          0.832          -2.197         0              0              0
  64  Drawer          -1.560         0.839          0.204          0              90             0
  65  StoveBurner     -0.465         0.915          -2.371         0              180            0
  66  Drawer          -1.560         0.839          -0.197         0              90             0
  67  CounterTop      -0.079         1.147          -0.001         0              0              0
  68  Cabinet         -1.549         0.494          -1.964         0              90             0
  69  CounterTop      0.693          0.946          -2.483         0              0              0
  70  StoveBurner     -0.036         0.915          -2.576         0              0              0
  71  Drawer          0.949          0.393          -2.200         0              0              0
  72  Drawer          0.949          0.708          -2.200         0              0              0
  73  Cabinet         -1.549         0.494          0.379          0              90             0
  74  StoveKnob       -0.022         0.881          -2.187         45             0              0
  75  Drawer          0.949          0.560          -2.201         0              0              0
  76  StoveBurner     -0.465         0.915          -2.575         0              180            0
  77  Window          -2.230         1.429          -1.203         0              0              0
  78  StoveKnob       -0.483         0.881          -2.187         45             0              0
  79  Sink            -1.899         0.964          -1.5           0              90             0
  80  StoveKnob       -0.328         0.881          -2.187         45             0              0
  81  Cabinet         -0.727         2.015          -2.460         0              0              0
  82  Drawer          -1.560         0.655          -0.196         0              90             0
  83  Cabinet         -1.685         2.015          -2.461         0              0              0
  84  Cabinet         0.680          0.494          -2.200         0              0              0
  85  Cabinet         -1.179         0.494          -2.200         0              0              0
  86  Cabinet         -1.849         2.015          0.379          0              90             0
  87  Drawer          0.949          0.221          -2.200         0              0              0
  88  StoveKnob       -0.183         0.881          -2.187         45             0              0
  89  Cabinet         0.719          2.015          -2.460         0              0              0
  90  Drawer          -1.560         0.331          -0.196         0              90             0
  91  Cabinet         0.680          2.015          -2.460         0              0              0
  92  CounterTop      -1.868         0.946          -1.205         0              0              0
  93  Microwave       -0.236         1.689          -2.525         0              0              0
  94  Shelf           1.751          0.880          -2.560         0              0              0
  95  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  96  Toaster         -1.835         0.900          0.134          0              90             0
  97  Shelf           1.750          0.552          -2.559         0              0              0
  98  GarbageCan      -1.935         -0.002         2.029          0              270            0
  99  Shelf           1.750          0.172          -2.559         0              0              0
 100  Fridge          -2.096         0.0            1.088          0              0              0
 101  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
 102  SinkBasin       -1.908         0.759          -1.488         0              90             0
 103  LightSwitch     2.329          1.309          -0.159         0              270            0
 104  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 105  Stool           0.702          0.000          -0.514         1.202          65.108         0
 106  Stool           0.743          0.000          0.563          1.227          106.706        0
 107  Faucet          -2.070         1.132          -1.514         0              0              0
 108  NorthWall
 109  EastWall
 110  SouthWall
 111  WestWall

Plan:
STEP 1: go to the cabinet on the left above the wine bottle | STEP 2: take the glass from the cabinet above the wine bottle | STEP 3: take the glass to the sink | STEP 4: clean the glass in the sink then remove | STEP 5: take the glass to the brown shelves to the left of the counter | STEP 6: put the glass on the shelf | END