Task: place cleaned glass on brown shelves

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          1.25           0              270            0
   1  Pan             1.845          0.948          -0.757         0              0              0              64
   2  Ladle           0.294          0.971          1.448          0              0              0              84
   3  DishSponge      1.828          0.913          -1.212         0              0              0              67
   4  DishSponge      -0.035         2.151          -2.094         0              0              0              52
   5  WineBottle      1.829          0.087          0.160          0              0              0              68
   6  Spatula         0.008          0.779          -2.026         0              0              0              79
   7  Spoon           1.919          0.914          -1.446         0              0              0              67
   8  Spoon           -0.720         0.914          -2.101         0              0              0              67
   9  Fork            0.294          0.931          0.991          0              0              0              84
  10  Fork            0.921          0.914          -2.169         0              90             0              67
  11  Cup             -1.495         1.504          -0.495         0              90             0              75
  12  Cup             -1.533         1.504          -0.392         0              90             0              75
  13  Cup             -1.036         0.913          -2.260         0              0              0              67
  14  Plate           0.180          0.930          0.534          0              0              0              84
  15  Plate           1.403          1.663          -2.162         0              0              0              54
  16  Knife           -0.047         0.950          0.305          0              90             0              84
  17  Tomato          -1.438         1.235          -0.702         0              90             0              75
  18  Bowl            -0.283         0.761          -2.071         0              0              0              79
  19  Bowl            1.871          1.654          -1.608         0              270            0              57
  20  SaltShaker      0.408          0.926          0.534          0              0              0              84
  21  Bread           -0.047         0.975          1.220          0              0              0              84
  22  Mug             1.653          1.654          -2.238         0              0              0              54
  23  Mug             -1.380         1.178          -0.910         0              90             0              75
  24  Apple           -1.380         0.930          -1.013         0              90             0              75
  25  Apple           0.522          0.997          0.534          0              0              0              84
  26  Potato          -1.610         1.212          -0.806         0              90             0              75
  27  Bowl            1.256          0.115          -1.914         0              0              0              59
  28  SoapBottle      0.066          0.929          1.448          0              0              0              84
  29  Fork            0.066          0.927          0.305          0              0              0              84
  30  Ladle           0.444          1.703          -2.162         0              0              0              56
  31  Bread           0.401          0.964          0.111          0              0              0              84
  32  Lettuce         -1.429         0.925          -0.542         0              315            0              75
  33  WineBottle      -0.160         0.931          0.762          0              0              0              84
  34  Spatula         1.153          0.928          -2.002         0              0              0              67
  35  Plate           1.670          0.556          2.431          0              0              0              93
  36  SaltShaker      0.180          0.923          0.762          0              0              0              84
  37  Pot             1.567          0.948          -0.757         0              0              0              49
  38  Cup             -0.173         2.151          -2.147         0              0              0              52
  39  PepperShaker    1.919          0.909          -1.329         0              0              0              67
  40  Pan             1.738          0.913          -1.680         0              90             0              67
  41  ButterKnife     0.180          0.921          0.076          0              0              0              84
  42  Tomato          1.915          0.138          0.044          0              0              0              68
  43  DishSponge      -0.616         0.913          -2.200         0              0              0              67
  44  Egg             1.738          0.967          -1.212         0              0              0              67
  45  Spoon           1.738          0.914          -1.329         0              0              0              67
  46  Knife           2.009          0.936          -1.329         0              90             0              67
  47  Mug             1.261          0.951          -1.934         0              0              0              77
  48  StoveBurner     1.845          0.940          -0.355         0              0              0
  49  StoveBurner     1.567          0.940          -0.757         0              0              0
  50  Cabinet         -1.149         2.019          -1.979         0              90             0
  51  Cabinet         -1.149         2.265          -0.834         0              90             0
  52  Cabinet         -0.459         2.265          -2.0           0              0              0
  53  Cabinet         -1.100         2.019          -2.0           0              0              0
  54  Cabinet         1.719          2.019          -2.0           0              0              0
  55  Cabinet         1.179          2.019          -2.0           0              0              0
  56  Cabinet         0.199          2.019          -2.0           0              0              0
  57  Cabinet         1.75           2.019          -1.399         0              270            0
  58  Cabinet         1.75           2.019          -1.029         0              270            0
  59  Cabinet         1.379          0.469          -1.689         0              0              0
  60  Cabinet         -0.819         0.469          -1.689         0              0              0
  61  Cabinet         1.389          0.469          -1.059         0              270            0
  62  Cabinet         -0.839         0.469          -1.665         0              90             0
  63  StoveBurner     1.567          0.940          -0.355         0              0              0
  64  StoveBurner     1.845          0.940          -0.757         0              0              0
  65  Sink            -0.109         0.893          -2.009         0              0              0
  66  Drawer          -0.819         0.75           -1.690         0              0              0
  67  CounterTop      0.232          0.949          -2.002         0              0              0
  68  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  69  Vase            0.251          0.546          0.475          0              270            0
  70  Toaster         0.780          0.900          -2.080         0              0              0
  71  LightSwitch     0.108          1.315          2.75           0              180            0
  72  Vase            0.400          0.925          0.218          0              180            0
  73  Microwave       -1.233         0.900          -1.680         0              90             0
  74  Vase            1.465          1.662          -2.200         0              0              0
  75  Fridge          -1.495         0.0            -0.703         0              0              0
  76  Window          2.114          1.495          1.072          90             270            0
  77  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  78  Vase            0.333          0.546          1.272          0              270            0
  79  SinkBasin       -0.148         0.753          -2.026         0              0              0
  80  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  81  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  82  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  83  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  84  DiningTable     0.170          0.005          0.678          0              270            0
  85  Shelf           0.170          0.155          0.678          0              270            0
  86  Shelf           1.605          0.172          2.480          0              0              0
  87  Shelf           1.605          0.552          2.480          0              0              0
  88  Shelf           1.604          0.880          2.479          0              0              0
  89  ShelvingUnit    1.605          0.006          2.480          0              0              0
  90  Faucet          -0.143         1.028          -2.223         0              270            0
  91  Stool           -0.553         0.000          0.871          1.233          280.376        0
  92  Shelf           0.170          0.528          0.678          0              270            0
  93
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: turn left, go to counter to the right of sink | STEP 2: pick up glass from counter to right of sink | STEP 3: go to sink to the left | STEP 4: place glass on left side of sink, turn on water, turn off water, pick up glass from sink | STEP 5: turn around, go to brown shelves in corner to the right | STEP 6: place glass to the right of blue plate on brown shelves | END