Task: Place a glass into a sink

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          -1.0           0              90             0
   1  Potato          -0.960         0.970          1.154          0              0              0              63
   2  Fork            -0.793         0.938          1.076          0              0              0              63
   3  Spoon           -0.861         0.747          2.245          0              270            0              39
   4  Spoon           1.379          0.747          2.391          0              180            0              41
   5  Pot             -1.109         0.930          1.865          0              0              0              62
   6  Knife           1.516          0.959          0.873          0              0              0              43
   7  Tomato          -0.971         1.560          0.272          0              90             0              70
   8  Tomato          -0.924         1.560          -0.110         0              90             0              70
   9  SaltShaker      -1.121         1.497          2.246          0              180            0              69
  10  SaltShaker      1.589          1.497          2.307          0              0              0              58
  11  PepperShaker    1.549          1.497          2.615          0              0              0              57
  12  PepperShaker    -0.710         0.934          1.076          0              0              0              63
  13  Lettuce         -1.126         1.028          0.998          0              0              0              63
  14  Mug             -0.946         0.195          0.200          0              90             0              70
  15  Apple           1.523          0.119          2.847          0              90             0              76
  16  Apple           1.390          0.119          2.879          0              0              0              76
  17  Lettuce         -1.126         1.028          0.765          0              0              0              63
  18  SoapBottle      -0.753         0.083          0.774          0              0              0              50
  19  Bread           -0.923         0.990          2.265          0              302.470        0              38
  20  Fork            -0.876         0.938          0.921          0              0              0              63
  21  Tomato          -0.971         1.380          -0.110         0              90             0              70
  22  Bowl            1.439          0.934          0.739          0              0              0              43
  23  Pot             -1.109         0.930          1.470          0              0              0              40
  24  Spatula         1.767          0.952          1.458          0              270            0              43
  25  Knife           -0.723         0.768          0.779          0              90             0              61
  26  SaltShaker      -0.827         0.742          2.381          0              180            0              39
  27  Apple           -0.860         0.615          0.042          0              90             0              70
  28  PepperShaker    -0.792         0.742          0.779          0              180            0              61
  29  ButterKnife     -1.126         0.937          0.998          0              0              0              63
  30  Potato          1.684          1.629          1.808          0              270            0              77
  31  Plate           -0.804         0.086          2.385          0              0              0              59
  32  DishSponge      1.385          1.071          -0.131         0              0              0              44
  33  Egg             1.729          0.973          1.566          0              0              0              43
  34  Cup             -0.793         0.936          0.687          0              0              0              63
  35  Pan             1.378          1.737          0.392          0              270            0              46
  36  Spoon           -0.960         0.939          0.687          0              0              0              63
  37  Mug             1.528          1.002          2.345          0              270            0              43
  38  CounterTop      -0.973         0.973          2.386          0              0              0
  39  Drawer          -0.783         0.774          2.381          0              180            0
  40  StoveBurner     -1.108         0.922          1.470          0              0              0
  41  Drawer          1.370          0.774          2.391          0              0              0
  42  Stool           -0.748         0.008          3.116          0              0              0
  43  CounterTop      1.504          0.973          2.309          0              0              0
  44  Cabinet         1.219          1.388          0.591          0              0              0
  45  Cabinet         1.500          2.113          1.164          0              0              0
  46  Cabinet         1.219          2.010          0.591          0              0              0
  47  Cabinet         1.219          0.388          2.105          0              0              0
  48  Cabinet         1.219          0.553          0.591          0              0              0
  49  Cabinet         -0.913         2.113          1.164          0              0              0
  50  Cabinet         -0.633         0.388          0.627          0              0              0
  51  Cabinet         -0.913         2.050          -0.329         0              0              0
  52  Cabinet         -0.913         2.113          0.583          0              0              0
  53  Cabinet         -0.913         2.113          2.082          0              0              0
  54  Cabinet         -0.913         2.113          1.207          0              0              0
  55  Cabinet         1.500          2.113          2.082          0              0              0
  56  Cabinet         1.500          2.113          1.207          0              0              0
  57  Cabinet         1.500          1.810          2.691          0              0              0
  58  Cabinet         1.500          1.810          2.101          0              0              0
  59  Cabinet         -0.633         0.388          2.105          0              0              0
  60  Cabinet         -0.911         1.810          2.700          0              180            0
  61  Drawer          -0.783         0.774          0.915          0              180            0
  62  StoveBurner     -1.108         0.922          1.865          0              0              0
  63  CounterTop      -0.972         0.973          0.921          0              0              0
  64  Cabinet         1.219          0.388          0.631          0              0              0
  65  Sink            1.544          0.869          1.639          0              180            0
  66  StoveBurner     -0.832         0.922          1.865          0              0              0
  67  StoveBurner     -0.831         0.922          1.470          0              0              0
  68  Drawer          1.370          0.774          0.916          0              0              0
  69  Cabinet         -0.911         1.810          2.111          0              180            0
  70  Fridge          -1.001         0.0            0.119          0              0              0
  71  StoveKnob       -0.648         0.926          1.923          0              270            0
  72  StoveKnob       -0.648         0.926          1.363          0              270            0
  73  StoveKnob       -0.648         0.926          1.513          0              270            0
  74  StoveKnob       -0.648         0.926          1.763          0              270            0
  75  Toaster         -1.002         0.926          2.561          0              90             0
  76  GarbageCan      1.451          -0.029         2.912          0              0              0
  77  Microwave       1.632          1.480          1.645          0              270            0
  78  Window          0.224          1.601          3.509          90             0              0
  79  CoffeeMachine   1.692          0.926          2.453          0              270            0
  80  SinkBasin       1.461          0.833          1.369          0              180            0
  81  LightSwitch     0.451          1.412          -1.674         0              0              0
  82  Faucet          1.707          0.925          1.363          0              270            0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn left and head forward then make a quick left after the fridge to face the counter to the right of the fridge | STEP 2: Pick up the clear glass that sitting on the counter | STEP 3: Step in front of the fridge that is on your left | STEP 4: Open the fridge and place the glass on the middle shelf to the left of the apple then close the door.  Then open the fridge door and take the glass from the middle shelf and close the door | STEP 5: Turn right and walk to the stove, then turn right and walk to the sink | STEP 6: Place the glass on the ride side of the sink | END