Task: To clean a tea pot 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           0.5            0.900          -1.5           0              180            0
   1  Book            -0.335         1.110          0.757          0              0              0              63
   2  CreditCard      -1.739         0.791          0.331          0              90             0              60
   3  Plate           0.506          0.137          -2.436         0              0              0              80
   4  Plate           -1.705         0.133          -1.856         0              90             0              64
   5  Cup             -0.277         1.788          -2.546         0              0              0              89
   6  Egg             -1.999         0.263          1.251          0              90             0              96
   7  Tomato          -1.982         1.345          1.092          0              90             0              96
   8  SoapBottle      0.336          0.141          -2.534         0              0              0              80
   9  PepperShaker    -1.655         0.132          -1.273         0              90             0              64
  10  Bread           -2.080         0.612          0.920          0              90             0              96
  11  Bread           -0.197         1.184          -0.253         0              0              0              63
  12  Lettuce         -0.197         1.191          -0.506         0              0              0              63
  13  Apple           -2.081         1.553          0.841          0              90             0              96
  14  Apple           0.453          0.961          -2.407         0              0              0              65
  15  Knife           -1.597         0.936          -1.682         0              90             0              98
  16  Knife           -0.335         1.136          0.504          0              0              0              63
  17  Fork            0.893          0.777          -2.334         0              0              0              59
  18  Spoon           0.892          0.647          -2.333         0              0              0              68
  19  Spoon           0.582          0.911          -2.330         0              0              0              65
  20  Spatula         -1.937         0.926          -0.698         0              90             0              88
  21  Spatula         -1.740         0.809          -0.104         0              270            0              62
  22  ButterKnife     0.969          0.910          -2.253         0              0              0              65
  23  WineBottle      -1.567         1.659          -2.567         0              0              0              79
  24  WineBottle      1.098          0.911          -2.253         0              0              0              65
  25  DishSponge      0.217          1.111          0.251          0              0              0              63
  26  DishSponge      -1.962         0.047          2.029          0              270            0              94
  27  Bowl            -1.104         0.133          -2.301         0              0              0              81
  28  Book            0.155          1.1            0.617          0              315            0              63
  29  Glassbottle     -1.907         0.048          1.933          0              270            0              94
  30  Knife           0.217          1.136          -0.759         0              0              0              63
  31  Bread           -0.059         1.184          -0.001         0              0              0              63
  32  Fork            1.066          0.315          -2.383         0              0              0              67
  33  Potato          -2.037         0.828          1.085          0              90             0              96
  34  SoapBottle      -1.783         0.155          -0.342         0              90             0              86
  35  Kettle          0.840          0.911          -2.407         0              0              0              65
  36  Pan             -0.036         0.950          -2.372         0              270            0              58
  37  Plate           -2.070         1.306          0.925          0              90             0              96
  38  Tomato          -2.120         0.837          1.168          0              90             0              96
  39  Vase            -0.955         1.658          -2.640         0              0              0              77
  40  Egg             -2.204         0.833          1.085          0              90             0              96
  41  CreditCard      0.453          0.907          -2.637         0              0              0              65
  42  Statue          -1.774         0.910          -0.884         0              0              0              88
  43  WineBottle      0.582          0.911          -2.714         0              0              0              65
  44  Pot             0.079          1.115          -0.506         0              0              0              63
  45  Spatula         -1.654         0.809          0.243          0              0              0              60
  46  PaperTowelRoll  -0.848         1.015          -2.329         0              0              0              88
  47  Cup             0.324          0.908          -2.407         0              0              0              65
  48  Vase            0.711          0.908          -2.637         0              0              0              65
  49  Bowl            -2.019         0.908          -2.256         0              0              0              88
  50  SaltShaker      0.393          0.136          -2.239         0              0              0              80
  51  PepperShaker    -1.401         1.654          -2.677         0              0              0              79
  52  Lettuce         0.355          1.191          -0.506         0              0              0              63
  53  ButterKnife     -0.197         1.111          0.251          0              0              0              63
  54  Apple           -1.774         0.961          -2.036         0              0              0              88
  55  DishSponge      -1.825         0.793          0.155          0              90             0              60
  56  Spoon           0.355          1.112          -0.000         0              0              0              63
  57  Mug             -2.037         0.793          0.920          0              90             0              96
  58  StoveBurner     -0.036         0.915          -2.372         0              0              0
  59  Drawer          0.949          0.832          -2.197         0              0              0
  60  Drawer          -1.560         0.839          0.204          0              90             0
  61  StoveBurner     -0.465         0.915          -2.371         0              180            0
  62  Drawer          -1.560         0.839          -0.197         0              90             0
  63  CounterTop      -0.079         1.147          -0.001         0              0              0
  64  Cabinet         -1.549         0.494          -1.964         0              90             0
  65  CounterTop      0.693          0.946          -2.483         0              0              0
  66  StoveBurner     -0.036         0.915          -2.576         0              0              0
  67  Drawer          0.949          0.393          -2.200         0              0              0
  68  Drawer          0.949          0.708          -2.200         0              0              0
  69  Cabinet         -1.549         0.494          0.379          0              90             0
  70  StoveKnob       -0.022         0.881          -2.187         45             0              0
  71  Drawer          0.949          0.560          -2.201         0              0              0
  72  StoveBurner     -0.465         0.915          -2.575         0              180            0
  73  Window          -2.230         1.429          -1.203         0              0              0
  74  StoveKnob       -0.483         0.881          -2.187         45             0              0
  75  Sink            -1.899         0.964          -1.5           0              90             0
  76  StoveKnob       -0.328         0.881          -2.187         45             0              0
  77  Cabinet         -0.727         2.015          -2.460         0              0              0
  78  Drawer          -1.560         0.655          -0.196         0              90             0
  79  Cabinet         -1.685         2.015          -2.461         0              0              0
  80  Cabinet         0.680          0.494          -2.200         0              0              0
  81  Cabinet         -1.179         0.494          -2.200         0              0              0
  82  Cabinet         -1.849         2.015          0.379          0              90             0
  83  Drawer          0.949          0.221          -2.200         0              0              0
  84  StoveKnob       -0.183         0.881          -2.187         45             0              0
  85  Cabinet         0.719          2.015          -2.460         0              0              0
  86  Drawer          -1.560         0.331          -0.196         0              90             0
  87  Cabinet         0.680          2.015          -2.460         0              0              0
  88  CounterTop      -1.868         0.946          -1.205         0              0              0
  89  Microwave       -0.236         1.689          -2.525         0              0              0
  90  Shelf           1.751          0.880          -2.560         0              0              0
  91  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  92  Toaster         -1.835         0.900          0.134          0              90             0
  93  Shelf           1.750          0.552          -2.559         0              0              0
  94  GarbageCan      -1.935         -0.002         2.029          0              270            0
  95  Shelf           1.750          0.172          -2.559         0              0              0
  96  Fridge          -2.096         0.0            1.088          0              0              0
  97  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  98  SinkBasin       -1.908         0.759          -1.488         0              90             0
  99  LightSwitch     2.329          1.309          -0.159         0              270            0
 100  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 101  Stool           0.702          0.000          -0.514         1.202          65.108         0
 102  Stool           0.743          0.000          0.563          1.227          106.706        0
 103  Faucet          -2.070         1.132          -1.514         0              0              0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Step to the left to face the tea pot on the counter. | STEP 2: Pick up the tea pot on the counter. | STEP 3: Turn right and walk across the room to face the sink. | STEP 4: Put the tea pot in the sink, wash it, and pick it back up. | STEP 5: Turn around and walk across the room and turn right to face the shelves. | STEP 6: Place the tea pot on the second shelf from the bottom. | END