Task: To clean a glass 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           1.75           0.900          -1.75          0              180            0
   1  Pan             -0.036         0.950          -2.372         0              270            0              58
   2  Potato          -0.328         1.820          -2.482         0              0              0              89
   3  CreditCard      -2.100         0.908          0.044          0              0              0              88
   4  CreditCard      -1.610         0.791          -0.351         0              90             0              62
   5  Plate           -0.059         1.108          0.251          0              0              0              63
   6  Cup             0.582          0.908          -2.637         0              0              0              65
   7  Cup             -2.158         1.307          1.008          0              90             0              96
   8  Cup             -2.162         0.796          1.334          0              90             0              96
   9  Egg             0.355          1.146          -0.506         0              0              0              63
  10  Egg             -0.335         1.146          -0.001         0              0              0              63
  11  Tomato          0.355          1.150          -0.001         0              0              0              63
  12  Tomato          -1.935         0.087          1.981          0              270            0              94
  13  SaltShaker      -1.814         0.126          0.112          0              90             0              69
  14  PepperShaker    -1.615         0.126          0.294          0              90             0              69
  15  Bread           -0.335         1.184          -0.253         0              0              0              63
  16  Lettuce         -0.473         1.191          -0.506         0              0              0              63
  17  Knife           0.582          0.936          -2.560         0              0              0              65
  18  Knife           0.217          1.136          -0.253         0              90             0              63
  19  Fork            -0.059         1.112          -0.759         0              90             0              63
  20  Mug             -2.037         0.793          1.003          0              90             0              96
  21  Pot             -0.197         1.115          -0.759         0              0              0              63
  22  ButterKnife     -1.852         0.769          -1.673         0              90             0              98
  23  Kettle          -1.765         0.130          0.248          0              90             0              69
  24  DishSponge      -1.852         0.769          -1.328         0              90             0              98
  25  DishSponge      0.892          0.645          -2.375         0              0              0              68
  26  Bowl            1.789          0.549          -2.666         0              180            0              93
  27  Bowl            0.217          1.108          -0.506         0              0              0              63
  28  Book            0.155          1.1            0.617          0              315            0              63
  29  Glassbottle     -1.999         0.227          0.920          0              90             0              96
  30  Knife           -1.908         0.795          -1.414         0              90             0              98
  31  Bread           -1.143         0.983          -2.560         0              0              0              88
  32  Fork            -1.774         0.911          -2.366         0              0              0              88
  33  Potato          0.582          0.941          -2.253         0              0              0              65
  34  SoapBottle      0.286          1.660          -2.525         0              0              0              87
  35  Kettle          -0.465         0.950          -2.372         0              90             0              61
  36  Pan             -1.693         0.911          -2.256         0              180            0              88
  37  Plate           -2.114         1.302          1.176          0              90             0              96
  38  Tomato          -1.962         0.087          2.124          0              270            0              94
  39  Vase            1.582          0.555          -2.562         0              180            0              93
  40  Egg             -0.059         1.146          -0.506         0              0              0              63
  41  CreditCard      -1.937         0.908          -0.513         0              0              0              88
  42  Statue          1.955          0.168          -2.543         0              0              0              95
  43  WineBottle      -0.816         0.137          -2.402         0              0              0              81
  44  Pot             0.969          0.914          -2.407         0              0              0              65
  45  Spatula         -1.653         0.169          -0.101         0              0              0              86
  46  PaperTowelRoll  -2.100         1.015          -0.698         0              0              0              88
  47  Cup             -1.999         0.224          1.085          0              90             0              96
  48  Vase            0.711          0.908          -2.407         0              0              0              65
  49  Bowl            -2.040         1.499          1.008          0              90             0              96
  50  SaltShaker      1.098          0.907          -2.253         0              0              0              65
  51  PepperShaker    1.098          0.907          -2.714         0              0              0              65
  52  Lettuce         -2.080         0.620          1.003          0              90             0              96
  53  ButterKnife     -0.848         0.911          -2.253         0              0              0              88
  54  Apple           -0.197         1.162          -0.506         0              0              0              63
  55  DishSponge      0.506          0.140          -2.485         0              0              0              80
  56  Spoon           0.079          1.112          -0.506         0              0              0              63
  57  Mug             -1.731         0.956          -0.168         0              90             0              97
  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: Turn right and walk to the counter to the left of the stove.  | STEP 2: Pick up the glass from behind the sharp knife.  | STEP 3: Turn right and walk to the sink.  | STEP 4: Put the glass down in the sink, clean the glass with water, pick up the glass.  | STEP 5: Turn around and walk to the wooden shelves to the left of the counter.  | STEP 6: Put the glass down on the right side of the second shelf.  | END