Task: Rinse a glass and set it down on a table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            1.124          -1.25          0              180            0
   1  Potato          0.971          1.564          1.601          0              270            0              64
   2  DishSponge      -1.451         1.322          -3.425         0              0              0              51
   3  Kettle          -1.920         1.324          -1.681         0              0              0              51
   4  Fork            0.939          0.954          0.983          0              90             0              74
   5  Fork            -1.660         1.323          1.744          0              0              0              51
   6  Spoon           0.981          0.741          1.019          0              0              0              81
   7  Spatula         -2.049         1.337          2.069          0              0              0              51
   8  Pot             -0.630         1.331          -3.301         0              180            0              48
   9  Pot             -1.749         0.350          0.211          0              0              0              49
  10  Egg             -1.634         0.321          2.316          0              270            0              66
  11  Egg             -1.586         0.321          2.069          0              270            0              66
  12  Cup             1.095          1.754          2.053          0              270            0              64
  13  SoapBottle      -1.610         0.280          2.151          0              270            0              66
  14  SoapBottle      0.492          1.323          -3.343         0              0              0              51
  15  Tomato          1.056          1.791          2.171          0              270            0              64
  16  Tomato          -1.920         1.356          -2.721         0              0              0              51
  17  Bowl            0.896          1.321          -2.424         0              0              0              51
  18  SaltShaker      0.277          1.318          -2.678         0              0              0              51
  19  PepperShaker    1.053          0.339          -1.957         0              180            0              50
  20  Bread           -1.401         1.397          -1.941         0              0              0              51
  21  Lettuce         1.155          1.399          -2.424         0              0              0              51
  22  Lettuce         -2.049         1.399          1.094          0              0              0              51
  23  Bread           -1.401         1.397          -2.721         0              0              0              51
  24  Pot             -1.750         0.350          1.110          0              0              0              52
  25  Knife           0.492          1.352          -2.789         0              0              0              51
  26  Bowl            1.213          1.308          0.913          0              270            0              76
  27  Potato          1.056          1.714          1.781          0              270            0              64
  28  SoapBottle      -1.790         1.323          2.069          0              0              0              51
  29  Fork            1.065          0.954          0.983          0              90             0              74
  30  Cup             0.506          1.320          -2.053         0              0              0              51
  31  Kettle          -1.749         0.344          0.613          0              0              0              49
  32  Egg             -1.790         1.363          1.419          0              0              0              51
  33  Pan             -1.790         1.322          0.445          0              90             0              51
  34  SaltShaker      0.824          0.339          -1.957         0              180            0              50
  35  WineBottle      -1.237         1.323          -2.870         0              0              0              51
  36  Lettuce         -1.891         1.400          -1.072         1.503          0              355.747        58
  37  Spatula         -2.179         1.337          0.120          0              90             0              51
  38  PaperTowelRoll  -1.327         1.427          -1.269         0              0              0              51
  39  Tomato          -1.345         1.356          -0.567         0              0              0              51
  40  Plate           -1.665         0.344          -1.863         0              0              0              47
  41  PepperShaker    0.824          0.339          -2.267         0              180            0              50
  42  DishSponge      0.976          0.344          -2.061         0              180            0              50
  43  Spoon           0.277          1.324          -2.900         0              0              0              51
  44  Apple           -1.530         1.371          -3.241         0              0              0              51
  45  Mug             0.965          1.371          -1.534         0              270            0              72
  46  StoveBurner     -0.239         1.325          -3.301         0              180            0
  47  Cabinet         -1.461         0.775          -2.002         0              0              0
  48  StoveBurner     -0.630         1.325          -3.301         0              180            0
  49  Cabinet         -1.461         0.775          0.470          0              0              0
  50  Cabinet         0.578          0.776          -2.054         0              0              0
  51  CounterTop      -1.809         1.358          1.182          0              0              0
  52  Cabinet         -1.461         0.775          1.310          0              0              0
  53  Faucet          -2.063         1.362          -0.726         0              39.391         0
  54  StoveBurner     -0.749         1.325          -2.973         0              0              0
  55  Drawer          -1.610         0.681          -0.430         0              0              0
  56  Window          -2.566         1.799          -0.822         270            0              0
  57  Drawer          -1.610         0.681          -1.217         0              0              0
  58  Sink            -1.990         1.143          -0.975         0              0              0
  59  StoveBurner     -0.125         1.325          -2.973         0              0              0
  60  StoveKnob       -0.185         1.338          -2.741         0              270            180
  61  StoveKnob       -0.336         1.338          -2.741         0              270            180
  62  StoveKnob       -0.569         1.338          -2.741         0              270            180
  63  StoveKnob       -0.707         1.338          -2.741         0              270            180
  64  Fridge          1.013          0.227          1.917          0              270            0
  65  Microwave       0.994          1.310          -2.163         0              270            0
  66  GarbageCan      -1.633         0.212          2.192          0              270            0
  67  LightSwitch     1.386          1.565          -0.657         0              270            0
  68  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  69  SinkBasin       -1.835         1.039          -0.542         0              0              0
  70  ButterKnife     0.873          0.468          0.651          0              0              0
  71  Toaster         -1.885         1.310          -2.512         0              90             0
  72  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  73  Drawer          0.647          1.061          0.680          0              270            0
  74  Drawer          0.648          1.061          1.020          0              270            0
  75  Drawer          0.648          0.843          1.020          0              270            0
  76  SideTable       0.975          0.220          0.869          0              270            0
  77  Drawer          0.648          0.602          0.680          0              270            0
  78  Drawer          0.648          0.596          1.020          0              270            0
  79  Drawer          0.648          0.843          0.680          0              270            0
  80  Stool           0.606          0.222          -1.084         1.233          280.489        0
  81
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Turn around and then turn to your right to face the fridge | STEP 2: Open the fridge and grab a green glass that was in there, then close the door | STEP 3: Turn right and then turn to your right to face the sink | STEP 4: Put the glass in the sink, rinse it for a few seconds and then pick it back up | STEP 5: Turn to your right twice so that you are facing the microwave | STEP 6: Set the glass down on the table in front of the microwave | END