Task: Put a clean glass 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           -0.5           0.900          2.25           0              270            0
   1  Potato          0.066          0.956          1.220          0              0              0              77
   2  Potato          -1.219         1.044          -1.846         0              90             0              66
   3  Ladle           0.189          0.947          0.077          0              0              346.810        77
   4  DishSponge      1.647          0.913          -1.212         0              0              0              60
   5  Pot             1.567          0.948          -0.757         0              0              0              42
   6  Spoon           -0.346         0.914          -1.701         0              0              0              60
   7  Spoon           1.738          0.914          -1.797         0              0              0              60
   8  Fork            0.066          0.931          0.305          0              0              0              77
   9  Tomato          -0.064         0.816          -1.936         0              0              0              72
  10  Tomato          -1.495         0.911          -0.910         0              90             0              68
  11  SoapBottle      -1.000         0.912          -2.188         0              0              0              60
  12  SoapBottle      -1.072         0.125          -1.575         0              90             0              53
  13  Bowl            1.462          0.549          2.482          0              0              0              80
  14  Bowl            -0.283         0.761          -2.071         0              0              0              72
  15  Lettuce         0.066          1.008          0.991          0              0              0              77
  16  Mug             -0.160         0.921          0.534          0              0              0              77
  17  Apple           -1.610         1.575          -0.392         0              90             0              68
  18  Apple           -0.047         0.997          0.305          0              0              0              77
  19  Potato          -0.963         0.942          -2.115         0              90             0              60
  20  Bowl            0.180          0.927          0.534          0              0              0              77
  21  SoapBottle      2.009          0.912          -1.095         0              0              0              60
  22  Fork            0.066          0.927          0.534          0              0              0              77
  23  Ladle           0.408          0.975          0.534          0              0              0              77
  24  Bread           0.408          0.964          0.113          0              1.050          358.272        77
  25  Lettuce         -0.047         1.011          0.762          0              0              0              77
  26  WineBottle      1.873          0.881          2.456          0              0              0              81
  27  Spatula         1.850          0.928          -2.169         0              0              0              60
  28  Plate           -1.495         0.862          -0.495         0              90             0              68
  29  SaltShaker      -0.963         0.909          -2.260         0              0              0              60
  30  Pot             -1.438         1.181          -0.702         0              180            0              68
  31  Cup             1.218          0.119          -1.968         0              0              0              52
  32  PepperShaker    -0.616         0.909          -2.167         0              0              0              60
  33  Pan             0.294          0.926          1.448          0              90             0              77
  34  ButterKnife     -0.668         0.913          -2.101         0              0              0              60
  35  Tomato          1.915          0.138          0.006          0              0              0              61
  36  DishSponge      1.255          0.552          2.379          0              0              0              86
  37  Egg             2.009          0.967          -1.797         0              0              0              60
  38  Spoon           0.180          0.928          0.991          0              0              0              77
  39  Knife           0.180          0.950          0.305          0              270            0              77
  40  Mug             -0.941         0.121          -1.463         0              90             0              55
  41  StoveBurner     1.845          0.940          -0.355         0              0              0
  42  StoveBurner     1.567          0.940          -0.757         0              0              0
  43  Cabinet         -1.149         2.019          -1.979         0              90             0
  44  Cabinet         -1.149         2.265          -0.834         0              90             0
  45  Cabinet         -0.459         2.265          -2.0           0              0              0
  46  Cabinet         -1.100         2.019          -2.0           0              0              0
  47  Cabinet         1.719          2.019          -2.0           0              0              0
  48  Cabinet         1.179          2.019          -2.0           0              0              0
  49  Cabinet         0.199          2.019          -2.0           0              0              0
  50  Cabinet         1.75           2.019          -1.399         0              270            0
  51  Cabinet         1.75           2.019          -1.029         0              270            0
  52  Cabinet         1.379          0.469          -1.689         0              0              0
  53  Cabinet         -0.819         0.469          -1.689         0              0              0
  54  Cabinet         1.389          0.469          -1.059         0              270            0
  55  Cabinet         -0.839         0.469          -1.665         0              90             0
  56  StoveBurner     1.567          0.940          -0.355         0              0              0
  57  StoveBurner     1.845          0.940          -0.757         0              0              0
  58  Sink            -0.109         0.893          -2.009         0              0              0
  59  Drawer          -0.819         0.75           -1.690         0              0              0
  60  CounterTop      0.232          0.949          -2.002         0              0              0
  61  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  62  Vase            0.251          0.546          0.475          0              270            0
  63  Toaster         0.780          0.900          -2.080         0              0              0
  64  LightSwitch     0.108          1.315          2.75           0              180            0
  65  Vase            0.400          0.925          0.218          0              180            0
  66  Microwave       -1.233         0.900          -1.680         0              90             0
  67  Vase            1.465          1.662          -2.200         0              0              0
  68  Fridge          -1.495         0.0            -0.703         0              0              0
  69  Window          2.114          1.495          1.072          90             270            0
  70  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  71  Vase            0.333          0.546          1.272          0              270            0
  72  SinkBasin       -0.148         0.753          -2.026         0              0              0
  73  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  74  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  75  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  76  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  77  DiningTable     0.170          0.005          0.678          0              270            0
  78  Shelf           0.170          0.155          0.678          0              270            0
  79  Shelf           1.605          0.172          2.480          0              0              0
  80  Shelf           1.605          0.552          2.480          0              0              0
  81  Shelf           1.604          0.880          2.479          0              0              0
  82  ShelvingUnit    1.605          0.006          2.480          0              0              0
  83  Faucet          -0.143         1.028          -2.223         0              270            0
  84  Stool           -0.553         0.000          0.871          1.233          280.376        0
  85  Shelf           0.170          0.528          0.678          0              270            0
  86
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn around and go toward the shelves, then turn right and go forward to the counter, then look down. | STEP 2: Open the cabinet adjacent to the dishwasher and take out the glass. | STEP 3: Turn right and move forward, then turn left to face the sink. | STEP 4: Clean the glass in the sink. | STEP 5: Turn left and move forward to the counter, then turn left and go straight to the shelves across the room. | STEP 6: Place the glass on the middle shelf. | END