Task: grab the wine bottle from the sink under the sink, 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           0.75           0.900          1.25           0              0              0
   1  Pan             -1.627         0.911          -1.591         0              0              0              57
   2  Vase            0.663          0.913          -1.369         0              0              0              57
   3  Potato          -0.367         0.733          -1.678         0              270            0              86
   4  Book            0.663          0.908          -1.674         0              0              0              57
   5  Book            -1.649         0.714          -0.859         0              90             0              72
   6  DishSponge      1.724          0.909          -1.437         0              0              0              77
   7  DishSponge      0.677          0.718          -1.443         0              0              0              74
   8  ButterKnife     -2.072         0.912          -1.591         0              0              0              57
   9  Kettle          -1.944         1.658          -1.674         0              0              0              53
  10  Kettle          -1.612         0.120          -0.841         0              0              0              62
  11  WineBottle      -0.348         0.122          -1.492         0              0              0              66
  12  Spatula         0.069          0.943          -1.429         0              270            0              54
  13  Egg             -0.035         1.169          2.167          0              180            0              82
  14  Plate           -1.516         0.916          0.363          0              0              0              57
  15  SoapBottle      -0.871         0.193          2.136          0              90             0              87
  16  SoapBottle      0.665          1.653          -1.749         0              0              0              68
  17  Tomato          -2.487         0.925          3.288          0              225            0              59
  18  Tomato          -0.377         1.191          2.206          0              180            0              82
  19  PepperShaker    -2.697         0.871          2.945          0              135            0              59
  20  PepperShaker    0.591          0.112          -1.445         0              0              0              64
  21  Lettuce         0.193          0.867          2.194          0              180            0              82
  22  Lettuce         -2.152         0.943          2.999          0              270            0              59
  23  Apple           -0.377         0.858          2.251          0              180            0              82
  24  Apple           0.193          0.444          2.025          0              180            0              82
  25  Book            -1.961         0.908          -1.265         0              0              0              57
  26  Fork            -2.152         0.879          3.147          0              270            0              59
  27  Tomato          -2.950         0.925          3.408          0              135            0              59
  28  Egg             0.307          1.169          2.246          0              180            0              82
  29  Kettle          -3.165         0.879          3.147          0              270            0              59
  30  Vase            0.997          2.157          -1.673         0              0              0              71
  31  Cup             -2.659         0.876          3.370          0              270            0              59
  32  WineBottle      1.631          1.656          -1.709         0              0              0              67
  33  Plate           -2.912         0.878          2.758          0              225            0              59
  34  Spatula         -2.525         0.889          2.878          0              135            0              59
  35  Potato          0.124          0.965          -1.429         0              270            0              54
  36  Pot             -1.602         0.901          -0.172         0              308.119        0              57
  37  Knife           -2.152         0.900          3.073          0              0              0              59
  38  SaltShaker      -2.807         0.874          2.884          0              0              0              59
  39  PepperShaker    -3.165         0.874          2.999          0              270            0              59
  40  Lettuce         -2.510         0.943          3.559          0              0              0              59
  41  ButterKnife     -3.165         0.874          3.296          0              270            0              59
  42  Bread           -2.733         0.961          3.559          0              0              0              59
  43  Vase            -1.388         1.658          -1.710         0              0              0              70
  44  DishSponge      0.479          0.911          -1.369         0              0              0              57
  45  Apple           -2.584         0.933          3.728          0              0              0              59
  46  Pan             1.328          0.957          -1.420         0              180            0              61
  47  Spoon           0.234          0.931          -1.718         0              270            0              54
  48  SoapBottle      -2.152         0.875          3.296          0              270            0              59
  49  Mug             -2.013         0.114          -1.360         0              0              0              58
  50  Statue          3.676          0.168          1.410          0              334.521        0              80
  51  Statue          3.668          0.540          1.800          0              0              0              80
  52  Bowl            -1.738         0.910          -0.614         0              0              0              57
  53  Cabinet         -2.171         2.009          -1.538         0              0              0
  54  Sink            0.024          0.771          -1.708         0              270            0
  55  Cabinet         1.444          2.259          -1.542         0              0              0
  56  StoveBurner     0.974          0.957          -1.688         0              180            0
  57  CounterTop      -1.866         0.947          -0.614         0              0              0
  58  Cabinet         -2.217         0.373          -1.874         0              0              0
  59  DiningTable     -2.663         0.002          3.208          0              0              0
  60  StoveBurner     1.328          0.957          -1.688         0              180            0
  61  StoveBurner     1.328          0.957          -1.420         0              180            0
  62  Cabinet         -1.478         0.373          -1.235         0              0              0
  63  Cabinet         1.775          0.372          -1.242         0              0              0
  64  Cabinet         0.774          0.372          -1.242         0              0              0
  65  Cabinet         0.375          0.372          -1.242         0              0              0
  66  Cabinet         -0.574         0.372          -1.238         0              0              0
  67  Cabinet         1.775          2.009          -1.542         0              0              0
  68  Cabinet         0.524          2.009          -1.542         0              0              0
  69  Cabinet         -0.714         2.009          -1.542         0              0              0
  70  Cabinet         -1.671         2.009          -1.538         0              0              0
  71  Cabinet         0.854          2.259          -1.542         0              0              0
  72  Drawer          -1.636         0.683          -0.930         0              0              0
  73  Drawer          1.650          0.682          -1.396         0              0              0
  74  Drawer          0.600          0.682          -1.396         0              0              0
  75  StoveBurner     0.974          0.957          -1.419         0              180            0
  76  Drawer          -2.062         0.683          -1.579         0              0              0
  77  CounterTop      1.645          0.945          -1.527         0              0              0
  78  Shelf           3.725          0.880          1.671          0              90             0
  79  LightSwitch     2.830          1.266          -0.748         0              0              0
  80  Shelf           3.726          0.552          1.671          0              90             0
  81  Microwave       1.150          1.655          -1.614         0              0              0
  82  Fridge          -0.035         0.0            2.177          0              180            0
  83  Window          -0.115         1.802          -1.896         90             0              0
  84  Window          -4.009         1.799          0.310          90             90             0
  85  Shelf           3.726          0.172          1.671          0              90             0
  86  SinkBasin       -0.330         0.686          -1.581         0              270            0
  87  GarbageCan      -0.870         -0.001         2.136          0              90             0
  88  StoveKnob       1.089          0.913          -1.243         45             0              0
  89  StoveKnob       1.208          0.913          -1.243         45             0              0
  90  StoveKnob       1.340          0.913          -1.243         45             0              0
  91  StoveKnob       0.961          0.913          -1.243         45             0              0
  92  Toaster         1.637          0.900          -1.673         0              0              0
  93  Chair           -3.505         0.002          3.290          0              105.736        0
  94  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  95  HousePlant      -2.663         0.835          3.209          0              0              0
  96  Faucet          -0.187         0.922          -1.75          0              311.166        0
  97  ShelvingUnit    3.726          0.006          1.671          0              90             0
  98  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  99  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 100  Chair           -2.934         0.002          2.437          0              28.531         0
 101  Chair           -1.698         0.002          3.235          0              245.204        0
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: turn around, walk to the sink | STEP 2: open the cabinet under the sink on the right, take the wine bottle out,close the cabinet | STEP 3: turn around, walk to the corner shelf | STEP 4: put the wine bottle on the shelf | END