Task: Place a clean container on a shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.0           0.900          -1.0           0              0              0
   1  Pan             0.079          1.571          2.100          0              180            0              80
   2  Statue          -2.072         0.910          -1.591         0              90             0              55
   3  Vase            -1.961         0.913          -1.265         0              0              0              55
   4  Potato          1.157          1.798          -1.562         0              0              0              79
   5  Potato          -0.923         0.229          2.213          0              90             0              85
   6  Book            0.599          0.715          -1.410         0              0              0              72
   7  DishSponge      -2.950         0.878          3.408          0              135            0              57
   8  DishSponge      -2.510         0.878          3.390          0              0              0              57
   9  ButterKnife     -2.196         0.878          3.475          0              315            0              57
  10  Kettle          -0.292         0.122          -1.373         0              0              0              64
  11  Fork            -2.405         0.875          2.758          0              135            0              57
  12  Fork            -2.420         0.879          3.460          0              225            0              57
  13  Egg             0.079          0.828          2.023          0              180            0              80
  14  Cup             -2.828         0.873          3.444          0              270            0              57
  15  Plate           -3.017         0.882          2.863          0              225            0              57
  16  Tomato          -3.165         0.925          3.073          0              270            0              57
  17  Bowl            -2.644         0.872          2.997          0              315            0              57
  18  Bowl            -2.584         0.876          3.559          0              0              0              57
  19  SaltShaker      -2.152         0.871          3.221          0              270            0              57
  20  SaltShaker      1.542          0.906          -1.346         0              0              0              75
  21  Apple           -2.912         0.929          3.685          0              135            0              57
  22  Apple           1.104          1.816          -1.663         0              0              0              79
  23  Book            -1.649         0.714          -1.073         0              90             0              70
  24  Fork            -2.659         0.875          2.715          0              0              0              57
  25  Tomato          -0.871         0.240          2.058          0              90             0              85
  26  Egg             0.307          0.828          2.137          0              180            0              80
  27  Kettle          0.974          0.957          -1.419         0              180            0              73
  28  Vase            -1.516         0.913          0.363          0              0              0              55
  29  Cup             -0.263         0.387          2.054          0              180            0              80
  30  WineBottle      -0.723         0.913          -1.471         0              0              0              55
  31  Plate           -1.686         0.123          -0.916         0              0              0              60
  32  Spatula         -2.434         0.893          3.207          0              225            0              57
  33  Potato          -2.143         0.915          3.021          0              135            0              57
  34  Pot             -1.602         0.901          -0.172         0              308.119        0              55
  35  Knife           -2.606         0.896          3.274          0              135            0              57
  36  SaltShaker      1.648          0.111          -1.487         0              0              0              61
  37  PepperShaker    0.508          0.112          -1.445         0              0              0              62
  38  Lettuce         -2.898         0.939          2.983          0              225            0              57
  39  ButterKnife     -2.321         0.878          3.296          0              270            0              57
  40  Bread           -1.601         0.980          -0.837         0              334.888        0              55
  41  Vase            0.665          1.654          -1.749         0              0              0              66
  42  DishSponge      -1.849         0.911          -0.288         0              0              0              55
  43  Apple           -2.152         0.929          3.370          0              270            0              57
  44  Pan             1.328          0.957          -1.688         0              180            0              58
  45  Spoon           -2.996         0.879          3.296          0              270            0              57
  46  SoapBottle      -0.833         0.912          -1.471         0              0              0              55
  47  Mug             -1.831         1.652          -1.784         0              0              0              51
  48  Statue          3.676          0.168          1.410          0              334.521        0              78
  49  Statue          3.668          0.540          1.800          0              0              0              78
  50  Bowl            -0.034         1.141          2.206          0              180            0              80
  51  Cabinet         -2.171         2.009          -1.538         0              0              0
  52  Sink            0.024          0.771          -1.708         0              270            0
  53  Cabinet         1.444          2.259          -1.542         0              0              0
  54  StoveBurner     0.974          0.957          -1.688         0              180            0
  55  CounterTop      -1.866         0.947          -0.614         0              0              0
  56  Cabinet         -2.217         0.373          -1.874         0              0              0
  57  DiningTable     -2.663         0.002          3.208          0              0              0
  58  StoveBurner     1.328          0.957          -1.688         0              180            0
  59  StoveBurner     1.328          0.957          -1.420         0              180            0
  60  Cabinet         -1.478         0.373          -1.235         0              0              0
  61  Cabinet         1.775          0.372          -1.242         0              0              0
  62  Cabinet         0.774          0.372          -1.242         0              0              0
  63  Cabinet         0.375          0.372          -1.242         0              0              0
  64  Cabinet         -0.574         0.372          -1.238         0              0              0
  65  Cabinet         1.775          2.009          -1.542         0              0              0
  66  Cabinet         0.524          2.009          -1.542         0              0              0
  67  Cabinet         -0.714         2.009          -1.542         0              0              0
  68  Cabinet         -1.671         2.009          -1.538         0              0              0
  69  Cabinet         0.854          2.259          -1.542         0              0              0
  70  Drawer          -1.636         0.683          -0.930         0              0              0
  71  Drawer          1.650          0.682          -1.396         0              0              0
  72  Drawer          0.600          0.682          -1.396         0              0              0
  73  StoveBurner     0.974          0.957          -1.419         0              180            0
  74  Drawer          -2.062         0.683          -1.579         0              0              0
  75  CounterTop      1.645          0.945          -1.527         0              0              0
  76  Shelf           3.725          0.880          1.671          0              90             0
  77  LightSwitch     2.830          1.266          -0.748         0              0              0
  78  Shelf           3.726          0.552          1.671          0              90             0
  79  Microwave       1.150          1.655          -1.614         0              0              0
  80  Fridge          -0.035         0.0            2.177          0              180            0
  81  Window          -0.115         1.802          -1.896         90             0              0
  82  Window          -4.009         1.799          0.310          90             90             0
  83  Shelf           3.726          0.172          1.671          0              90             0
  84  SinkBasin       -0.330         0.686          -1.581         0              270            0
  85  GarbageCan      -0.870         -0.001         2.136          0              90             0
  86  StoveKnob       1.089          0.913          -1.243         45             0              0
  87  StoveKnob       1.208          0.913          -1.243         45             0              0
  88  StoveKnob       1.340          0.913          -1.243         45             0              0
  89  StoveKnob       0.961          0.913          -1.243         45             0              0
  90  Toaster         1.637          0.900          -1.673         0              0              0
  91  Chair           -3.505         0.002          3.290          0              105.736        0
  92  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  93  HousePlant      -2.663         0.835          3.209          0              0              0
  94  Faucet          -0.187         0.922          -1.75          0              311.166        0
  95  ShelvingUnit    3.726          0.006          1.671          0              90             0
  96  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  97  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  98  Chair           -2.934         0.002          2.437          0              28.531         0
  99  Chair           -1.698         0.002          3.235          0              245.204        0
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Cross the room, hang a right at the edge of the counter and walk to the black fridge on the left. | STEP 2: Open the fridge, pick up the dirty container from the top shelf and close the door. | STEP 3: Turn around and walk to the sink ahead. | STEP 4: Put the container in the sink, rinse it for a few seconds and pick it back up. | STEP 5: Turn around, hang a right at the fridge and walk to the rack of wooden shelves. | STEP 6: Put the clean container on the middle shelf on the right side. | END