Task: Clean a glass cup and place 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           1.25           0.900          1.5            0              90             0
   1  Book            1.685          0.552          -2.562         0              180            0              69
   2  Statue          -0.197         1.110          0.757          0              270            0              67
   3  Vase            2.096          0.878          -2.536         0              180            0              94
   4  CreditCard      1.098          0.907          -2.714         0              0              0              69
   5  Plate           -0.473         1.108          -0.506         0              0              0              67
   6  Plate           -1.290         0.908          -2.406         0              0              0              92
   7  Cup             0.396          1.657          -2.667         0              0              0              91
   8  Cup             -1.605         0.134          -1.856         0              90             0              68
   9  Cup             0.453          0.908          -2.714         0              0              0              69
  10  Egg             -0.122         1.825          -2.610         0              0              0              93
  11  Egg             -2.100         0.946          -2.475         0              0              0              92
  12  Tomato          -2.026         1.348          1.008          0              90             0              100
  13  SaltShaker      -0.840         1.652          -2.640         0              0              0              81
  14  PepperShaker    0.836          0.311          -2.431         0              0              0              71
  15  Bread           -1.774         0.983          -0.698         0              0              0              92
  16  Bread           0.355          1.184          -0.253         0              0              0              67
  17  Lettuce         0.079          1.191          -0.253         0              0              0              67
  18  Fork            -0.995         0.911          -2.483         0              0              0              92
  19  Spoon           -1.784         0.795          -0.302         0              90             0              66
  20  Spoon           -1.797         0.770          -1.242         0              0              0              102
  21  Mug             -1.586         0.906          -2.329         0              0              0              92
  22  Spatula         -2.018         0.784          -1.328         0              180            0              102
  23  Spatula         -1.827         0.809          -0.153         0              180            0              66
  24  Pot             -0.036         0.950          -2.372         0              270            0              62
  25  Pot             0.969          0.914          -2.330         0              0              0              69
  26  ButterKnife     -0.059         1.111          -0.759         0              0              0              67
  27  ButterKnife     0.582          0.910          -2.253         0              0              0              69
  28  Kettle          -0.465         0.950          -2.372         0              90             0              65
  29  Kettle          0.355          1.112          0.251          0              0              0              67
  30  Glassbottle     -1.963         0.770          -1.501         0              90             0              102
  31  Bowl            -1.008         0.133          -2.453         0              0              0              85
  32  Book            0.155          1.1            0.617          0              315            0              67
  33  Glassbottle     0.079          1.112          -0.506         0              0              0              67
  34  Knife           -1.856         0.936          -0.884         0              0              0              92
  35  Bread           -2.080         0.612          1.085          0              90             0              100
  36  Fork            -1.963         0.770          -1.587         0              180            0              102
  37  Potato          -2.040         1.533          1.343          0              90             0              100
  38  SoapBottle      0.620          0.141          -2.239         0              180            0              84
  39  Kettle          -0.335         1.112          -0.253         0              0              0              67
  40  Pan             -0.197         1.111          0.251          0              0              0              67
  41  Plate           0.336          0.137          -2.387         0              0              0              84
  42  Tomato          -1.907         0.087          2.029          0              270            0              98
  43  Vase            -0.335         1.113          -0.759         0              0              0              67
  44  Egg             -1.982         1.344          0.925          0              90             0              100
  45  CreditCard      1.996          0.550          -2.614         0              180            0              97
  46  Statue          0.217          1.110          -0.759         0              90             0              67
  47  WineBottle      0.396          1.660          -2.525         0              0              0              91
  48  Pot             -2.040         1.507          1.176          0              90             0              100
  49  Spatula         -1.740         0.169          -0.245         0              90             0              90
  50  PaperTowelRoll  0.324          1.014          -2.637         0              0              0              69
  51  Cup             -0.070         1.788          -2.514         0              0              0              93
  52  Vase            -1.457         1.656          -2.604         0              0              0              83
  53  Bowl            -1.755         0.132          -1.740         0              90             0              68
  54  SaltShaker      0.324          0.907          -2.407         0              0              0              69
  55  PepperShaker    0.778          0.477          -2.331         0              0              0              75
  56  Lettuce         0.079          1.191          -0.001         0              0              0              67
  57  ButterKnife     0.840          0.910          -2.637         0              0              0              69
  58  Apple           -1.852         0.820          -1.760         0              90             0              102
  59  DishSponge      0.949          0.645          -2.333         0              0              0              72
  60  Spoon           1.098          0.911          -2.637         0              0              0              69
  61  Mug             -0.225         1.785          -2.546         0              0              0              93
  62  StoveBurner     -0.036         0.915          -2.372         0              0              0
  63  Drawer          0.949          0.832          -2.197         0              0              0
  64  Drawer          -1.560         0.839          0.204          0              90             0
  65  StoveBurner     -0.465         0.915          -2.371         0              180            0
  66  Drawer          -1.560         0.839          -0.197         0              90             0
  67  CounterTop      -0.079         1.147          -0.001         0              0              0
  68  Cabinet         -1.549         0.494          -1.964         0              90             0
  69  CounterTop      0.693          0.946          -2.483         0              0              0
  70  StoveBurner     -0.036         0.915          -2.576         0              0              0
  71  Drawer          0.949          0.393          -2.200         0              0              0
  72  Drawer          0.949          0.708          -2.200         0              0              0
  73  Cabinet         -1.549         0.494          0.379          0              90             0
  74  StoveKnob       -0.022         0.881          -2.187         45             0              0
  75  Drawer          0.949          0.560          -2.201         0              0              0
  76  StoveBurner     -0.465         0.915          -2.575         0              180            0
  77  Window          -2.230         1.429          -1.203         0              0              0
  78  StoveKnob       -0.483         0.881          -2.187         45             0              0
  79  Sink            -1.899         0.964          -1.5           0              90             0
  80  StoveKnob       -0.328         0.881          -2.187         45             0              0
  81  Cabinet         -0.727         2.015          -2.460         0              0              0
  82  Drawer          -1.560         0.655          -0.196         0              90             0
  83  Cabinet         -1.685         2.015          -2.461         0              0              0
  84  Cabinet         0.680          0.494          -2.200         0              0              0
  85  Cabinet         -1.179         0.494          -2.200         0              0              0
  86  Cabinet         -1.849         2.015          0.379          0              90             0
  87  Drawer          0.949          0.221          -2.200         0              0              0
  88  StoveKnob       -0.183         0.881          -2.187         45             0              0
  89  Cabinet         0.719          2.015          -2.460         0              0              0
  90  Drawer          -1.560         0.331          -0.196         0              90             0
  91  Cabinet         0.680          2.015          -2.460         0              0              0
  92  CounterTop      -1.868         0.946          -1.205         0              0              0
  93  Microwave       -0.236         1.689          -2.525         0              0              0
  94  Shelf           1.751          0.880          -2.560         0              0              0
  95  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  96  Toaster         -1.835         0.900          0.134          0              90             0
  97  Shelf           1.750          0.552          -2.559         0              0              0
  98  GarbageCan      -1.935         -0.002         2.029          0              270            0
  99  Shelf           1.750          0.172          -2.559         0              0              0
 100  Fridge          -2.096         0.0            1.088          0              0              0
 101  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
 102  SinkBasin       -1.908         0.759          -1.488         0              90             0
 103  LightSwitch     2.329          1.309          -0.159         0              270            0
 104  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 105  Stool           0.702          0.000          -0.514         1.202          65.108         0
 106  Stool           0.743          0.000          0.563          1.227          106.706        0
 107  Faucet          -2.070         1.132          -1.514         0              0              0
 108  NorthWall
 109  EastWall
 110  SouthWall
 111  WestWall

Plan:
STEP 1: Turn right walk straight the turn right and walk straight to the kitchen sink and face it | STEP 2: Open the cabinet below and pick up the glass cup then close the door | STEP 3: Slightly move to the right and face the kitchen sink | STEP 4: Place the glass in the sink and rinse with water then remove the glass | STEP 5: Turn around walk straight then turn right and face the brown shelves | STEP 6: Place the glass on the shelf next to the book | END