Task: place a pot with water 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           0.25           0.900          1.25           0              270            0
   1  Potato          -0.122         1.820          -2.546         0              0              0              85
   2  Potato          0.217          1.142          -0.001         0              0              0              59
   3  Egg             -0.122         1.825          -2.482         0              0              0              85
   4  Egg             -1.982         1.344          0.925          0              90             0              92
   5  SoapBottle      -1.935         0.048          2.172          0              270            0              90
   6  SoapBottle      -1.605         0.137          -1.506         0              90             0              60
   7  SaltShaker      -1.200         0.133          -2.402         0              0              0              77
   8  SaltShaker      0.324          0.907          -2.253         0              0              0              61
   9  PepperShaker    -1.694         0.474          -0.100         0              90             0              74
  10  Bread           0.355          1.184          -0.506         0              0              0              59
  11  Lettuce         -0.335         1.191          -0.253         0              0              0              59
  12  Lettuce         -0.335         1.191          0.504          0              0              0              59
  13  Apple           -1.982         1.356          1.260          0              90             0              92
  14  Apple           -0.848         0.961          -2.483         0              0              0              84
  15  Spoon           -2.100         0.912          -2.695         0              90             0              84
  16  Spoon           0.969          0.911          -2.407         0              0              0              61
  17  Spatula         -1.651         0.493          -0.196         0              0              0              74
  18  Kettle          -0.465         0.950          -2.372         0              90             0              57
  19  Kettle          0.560          1.661          -2.596         0              0              0              83
  20  Glassbottle     -1.907         0.048          2.029          0              270            0              90
  21  DishSponge      -1.755         0.135          -1.156         0              90             0              60
  22  DishSponge      1.008          0.314          -2.334         0              0              0              63
  23  Bowl            -1.438         0.908          -2.406         0              0              0              84
  24  Book            0.079          1.110          -0.759         0              270            0              59
  25  Glassbottle     -0.197         1.112          -0.506         0              0              0              59
  26  Knife           -0.335         1.136          -0.001         0              90             0              59
  27  Bread           0.217          1.184          0.251          0              0              0              59
  28  Fork            0.778          0.482          -2.429         0              90             0              67
  29  Potato          -0.059         1.142          0.757          0              0              0              59
  30  SoapBottle      0.355          1.112          -0.253         0              0              0              59
  31  Kettle          -0.465         0.950          -2.576         0              90             0              68
  32  Pan             0.721          0.9            -2.415         0              0              0              61
  33  Plate           -2.122         1.499          1.176          0              90             0              92
  34  Tomato          -2.162         0.837          1.168          0              90             0              92
  35  Vase            2.042          0.540          -2.495         0              0              0              89
  36  Egg             -1.290         0.946          -2.637         0              0              0              84
  37  CreditCard      1.098          0.907          -2.714         0              0              0              61
  38  Statue          1.955          0.168          -2.543         0              0              0              91
  39  WineBottle      -0.059         1.112          0.251          0              0              0              59
  40  Pot             -1.705         0.140          -1.740         0              90             0              60
  41  Spatula         0.079          1.126          -0.506         0              0              0              59
  42  PaperTowelRoll  -1.611         1.015          -0.698         0              0              0              84
  43  Cup             0.783          1.658          -2.564         0              0              0              81
  44  Vase            -0.848         0.909          -2.329         0              0              0              84
  45  Bowl            -1.457         1.654          -2.641         0              0              0              75
  46  SaltShaker      -1.622         1.654          -2.567         0              0              0              75
  47  PepperShaker    -0.197         1.107          -0.001         0              0              0              59
  48  Lettuce         -0.059         1.191          -0.253         0              0              0              59
  49  ButterKnife     0.950          0.481          -2.380         0              0              0              67
  50  Apple           -1.997         0.591          1.251          0              90             0              92
  51  DishSponge      0.453          0.910          -2.714         0              0              0              61
  52  Spoon           -1.856         0.912          -0.513         0              0              0              84
  53  Mug             1.098          0.905          -2.253         0              0              0              61
  54  StoveBurner     -0.036         0.915          -2.372         0              0              0
  55  Drawer          0.949          0.832          -2.197         0              0              0
  56  Drawer          -1.560         0.839          0.204          0              90             0
  57  StoveBurner     -0.465         0.915          -2.371         0              180            0
  58  Drawer          -1.560         0.839          -0.197         0              90             0
  59  CounterTop      -0.079         1.147          -0.001         0              0              0
  60  Cabinet         -1.549         0.494          -1.964         0              90             0
  61  CounterTop      0.693          0.946          -2.483         0              0              0
  62  StoveBurner     -0.036         0.915          -2.576         0              0              0
  63  Drawer          0.949          0.393          -2.200         0              0              0
  64  Drawer          0.949          0.708          -2.200         0              0              0
  65  Cabinet         -1.549         0.494          0.379          0              90             0
  66  StoveKnob       -0.022         0.881          -2.187         45             0              0
  67  Drawer          0.949          0.560          -2.201         0              0              0
  68  StoveBurner     -0.465         0.915          -2.575         0              180            0
  69  Window          -2.230         1.429          -1.203         0              0              0
  70  StoveKnob       -0.483         0.881          -2.187         45             0              0
  71  Sink            -1.899         0.964          -1.5           0              90             0
  72  StoveKnob       -0.328         0.881          -2.187         45             0              0
  73  Cabinet         -0.727         2.015          -2.460         0              0              0
  74  Drawer          -1.560         0.655          -0.196         0              90             0
  75  Cabinet         -1.685         2.015          -2.461         0              0              0
  76  Cabinet         0.680          0.494          -2.200         0              0              0
  77  Cabinet         -1.179         0.494          -2.200         0              0              0
  78  Cabinet         -1.849         2.015          0.379          0              90             0
  79  Drawer          0.949          0.221          -2.200         0              0              0
  80  StoveKnob       -0.183         0.881          -2.187         45             0              0
  81  Cabinet         0.719          2.015          -2.460         0              0              0
  82  Drawer          -1.560         0.331          -0.196         0              90             0
  83  Cabinet         0.680          2.015          -2.460         0              0              0
  84  CounterTop      -1.868         0.946          -1.205         0              0              0
  85  Microwave       -0.236         1.689          -2.525         0              0              0
  86  Shelf           1.751          0.880          -2.560         0              0              0
  87  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  88  Toaster         -1.835         0.900          0.134          0              90             0
  89  Shelf           1.750          0.552          -2.559         0              0              0
  90  GarbageCan      -1.935         -0.002         2.029          0              270            0
  91  Shelf           1.750          0.172          -2.559         0              0              0
  92  Fridge          -2.096         0.0            1.088          0              0              0
  93  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  94  SinkBasin       -1.908         0.759          -1.488         0              90             0
  95  LightSwitch     2.329          1.309          -0.159         0              270            0
  96  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  97  Stool           0.702          0.000          -0.514         1.202          65.108         0
  98  Stool           0.743          0.000          0.563          1.227          106.706        0
  99  Faucet          -2.070         1.132          -1.514         0              0              0
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: go around the island to the left and stop at the sink on your right | STEP 2: open the cabinet under the sink and take out a dirty pot | STEP 3: take the pot to the sink | STEP 4: fill the pot with water | STEP 5: take the water filled pot out of the sink; take it to the shelf at the end of the counter behind you | STEP 6: place the pot on the middle shelf | END