Task: Place a clean glass 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           -0.5           0.900          2.0            0              0              0
   1  Ladle           1.738          0.957          -1.329         0              180            0              61
   2  DishSponge      1.218          0.118          -1.860         0              0              0              53
   3  DishSponge      -0.104         2.151          -2.094         0              0              0              46
   4  Spatula         0.689          0.928          -1.918         0              0              0              61
   5  Spatula         0.522          0.945          0.762          0              90             0              78
   6  Fork            -0.772         0.914          -2.101         0              0              0              61
   7  Egg             -0.160         0.980          0.534          0              0              0              78
   8  Egg             0.066          0.984          0.076          0              0              0              78
   9  Plate           0.180          0.934          1.448          0              0              0              78
  10  Plate           0.408          0.934          0.534          0              0              0              78
  11  Knife           0.294          0.953          1.220          0              0              0              78
  12  Tomato          -0.160         0.982          0.991          0              0              0              78
  13  SoapBottle      1.181          0.117          -2.022         0              0              0              53
  14  SaltShaker      0.066          0.926          0.534          0              0              0              78
  15  SaltShaker      0.408          0.926          0.076          0              0              0              78
  16  Bread           -0.047         0.972          0.762          0              0              0              78
  17  Mug             -0.283         0.759          -1.981         0              90             0              73
  18  Mug             -1.186         1.010          -1.846         0              0              0              67
  19  Apple           0.522          0.997          0.076          0              0              0              78
  20  Potato          -0.137         0.793          -2.116         0              0              0              73
  21  Bowl            -1.380         0.856          -0.910         0              90             0              69
  22  SoapBottle      1.913          1.656          -1.281         0              270            0              52
  23  Fork            0.294          0.931          0.305          0              0              0              78
  24  Ladle           1.850          0.957          -1.918         0              0              0              61
  25  Bread           -1.495         1.228          -0.703         0              90             0              69
  26  Lettuce         -1.429         0.925          -0.542         0              315            0              69
  27  WineBottle      0.119          0.914          -1.725         0              0              0              61
  28  Spatula         0.180          0.941          0.762          0              0              0              78
  29  Plate           1.566          0.556          2.534          0              0              0              81
  30  SaltShaker      0.522          0.923          0.305          0              0              0              78
  31  Pot             1.567          0.948          -0.757         0              0              0              43
  32  Cup             0.522          0.930          1.448          0              0              0              78
  33  PepperShaker    -1.160         0.122          -1.575         0              90             0              54
  34  Pan             1.824          0.945          -0.346         0              0              0              42
  35  ButterKnife     0.002          0.913          -1.737         0              0              0              61
  36  Tomato          -1.495         1.556          -0.910         0              90             0              69
  37  DishSponge      1.872          0.086          0.006          0              0              0              62
  38  Egg             -1.495         0.913          -0.392         0              90             0              69
  39  Spoon           -0.047         0.931          1.220          0              0              0              78
  40  Knife           0.066          0.950          0.305          0              0              0              78
  41  Mug             -0.963         0.908          -2.224         0              0              0              61
  42  StoveBurner     1.845          0.940          -0.355         0              0              0
  43  StoveBurner     1.567          0.940          -0.757         0              0              0
  44  Cabinet         -1.149         2.019          -1.979         0              90             0
  45  Cabinet         -1.149         2.265          -0.834         0              90             0
  46  Cabinet         -0.459         2.265          -2.0           0              0              0
  47  Cabinet         -1.100         2.019          -2.0           0              0              0
  48  Cabinet         1.719          2.019          -2.0           0              0              0
  49  Cabinet         1.179          2.019          -2.0           0              0              0
  50  Cabinet         0.199          2.019          -2.0           0              0              0
  51  Cabinet         1.75           2.019          -1.399         0              270            0
  52  Cabinet         1.75           2.019          -1.029         0              270            0
  53  Cabinet         1.379          0.469          -1.689         0              0              0
  54  Cabinet         -0.819         0.469          -1.689         0              0              0
  55  Cabinet         1.389          0.469          -1.059         0              270            0
  56  Cabinet         -0.839         0.469          -1.665         0              90             0
  57  StoveBurner     1.567          0.940          -0.355         0              0              0
  58  StoveBurner     1.845          0.940          -0.757         0              0              0
  59  Sink            -0.109         0.893          -2.009         0              0              0
  60  Drawer          -0.819         0.75           -1.690         0              0              0
  61  CounterTop      0.232          0.949          -2.002         0              0              0
  62  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  63  Vase            0.251          0.546          0.475          0              270            0
  64  Toaster         0.780          0.900          -2.080         0              0              0
  65  LightSwitch     0.108          1.315          2.75           0              180            0
  66  Vase            0.400          0.925          0.218          0              180            0
  67  Microwave       -1.233         0.900          -1.680         0              90             0
  68  Vase            1.465          1.662          -2.200         0              0              0
  69  Fridge          -1.495         0.0            -0.703         0              0              0
  70  Window          2.114          1.495          1.072          90             270            0
  71  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  72  Vase            0.333          0.546          1.272          0              270            0
  73  SinkBasin       -0.148         0.753          -2.026         0              0              0
  74  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  75  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  76  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  77  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  78  DiningTable     0.170          0.005          0.678          0              270            0
  79  Shelf           0.170          0.155          0.678          0              270            0
  80  Shelf           1.605          0.172          2.480          0              0              0
  81  Shelf           1.605          0.552          2.480          0              0              0
  82  Shelf           1.604          0.880          2.479          0              0              0
  83  ShelvingUnit    1.605          0.006          2.480          0              0              0
  84  Faucet          -0.143         1.028          -2.223         0              270            0
  85  Stool           -0.553         0.000          0.871          1.233          280.376        0
  86  Shelf           0.170          0.528          0.678          0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn right, hang a right at the wall and walk to the silver counter on the right. | STEP 2: Pick up the dirty glass from the right corner of the counter. | STEP 3: Turn left, hang a right around the counter and walk to the sink to the left. | STEP 4: Put the dirty glass inside the sink, rinse it for a few seconds, and pick it back up. | STEP 5: Turn left, hang a left at the counter and walk to the rack of wooden shelves against the wall. | STEP 6: Put the clean glass on the middle shelf on the right side on the rack. | END