Task: To heat a glass and place it in the cabinet.

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           0.901          1.0            0              90             0
   1  Potato          2.223          1.361          -0.188         0              270            0              74
   2  WineBottle      2.304          0.938          2.260          0              0              0              53
   3  DishSponge      0.034          0.937          2.478          0              0              0              53
   4  Pot             1.866          0.935          1.504          0              180            0              57
   5  Spatula         0.735          0.810          2.695          0              270            0              77
   6  Spoon           1.276          0.796          2.64           0              0              0              77
   7  Egg             -0.261         1.078          1.961          0              90             0              78
   8  Egg             2.158          0.903          -0.550         0              270            0              74
   9  Cup             0.033          0.789          1.386          0              0              0              80
  10  Plate           2.206          1.505          2.010          0              0              0              56
  11  Knife           1.976          0.771          0.721          0              270            0              62
  12  Knife           1.872          0.772          0.446          0              90             0              62
  13  SoapBottle      -0.358         0.038          -0.801         0              90             0              75
  14  Bowl            2.056          1.320          -0.279         0              270            0              74
  15  Bowl            -0.362         1.032          2.068          0              90             0              78
  16  SaltShaker      -0.196         0.785          1.217          0              90             0              80
  17  SaltShaker      2.074          0.932          2.162          0              0              0              53
  18  PepperShaker    2.301          0.933          0.806          0              0              0              64
  19  Lettuce         2.056          1.385          -0.460         0              270            0              74
  20  Lettuce         -0.042         0.852          0.377          0              0              0              80
  21  Mug             2.158          0.855          -0.278         0              270            0              74
  22  Egg             -0.349         0.833          0.881          0              0              0              80
  23  Lettuce         0.033          0.852          0.713          0              0              0              80
  24  Fork            1.673          0.938          2.434          0              180            0              53
  25  SoapBottle      2.241          1.504          0.388          0              0              0              51
  26  Ladle           1.954          0.791          2.197          0              270            0              68
  27  Ladle           1.085          0.125          2.523          0              0              0              59
  28  Bread           -0.199         0.823          0.814          0              0              0              80
  29  SaltShaker      -0.272         0.785          1.217          0              0              0              80
  30  Potato          0.288          0.977          2.478          0              0              0              53
  31  Pan             1.928          0.070          0.640          0              0              0              50
  32  WineBottle      2.127          1.504          0.725          0              0              0              61
  33  Spatula         -0.042         0.805          1.217          0              0              0              80
  34  Knife           -0.053         0.963          2.827          0              270            0              53
  35  Tomato          2.132          0.384          -0.278         0              270            0              74
  36  Apple           1.840          0.988          0.509          0              0              0              64
  37  ButterKnife     1.917          0.938          0.361          0              180            0              64
  38  Pot             2.150          0.937          1.964          0              90             0              48
  39  PepperShaker    2.150          0.932          2.260          0              0              0              53
  40  Cup             -0.196         0.789          0.377          0              0              0              80
  41  DishSponge      -0.119         0.790          1.386          0              0              0              80
  42  Plate           1.925          0.086          2.057          0              0              0              49
  43  Spoon           -0.042         0.781          0.881          0              0              0              80
  44  Mug             0.174          0.932          2.757          0              0              0              53
  45  Bowl            2.243          1.945          1.050          0              0              0              63
  46  Cabinet         2.041          2.113          2.618          0              0              0
  47  Cabinet         0.126          0.388          1.774          0              0              0
  48  StoveBurner     2.140          0.929          1.504          0              180            0
  49  Cabinet         1.760          0.388          2.346          0              0              0
  50  Cabinet         1.760          0.388          0.869          0              0              0
  51  Cabinet         2.041          1.810          0.283          0              0              0
  52  Drawer          -0.024         0.774          2.061          0              0              0
  53  CounterTop      1.065          0.973          2.666          0              0              0
  54  Cabinet         1.969          2.113          2.618          0              0              0
  55  StoveBurner     2.140          0.929          1.106          0              0              0
  56  Cabinet         2.041          2.113          1.809          0              0              0
  57  StoveBurner     1.866          0.929          1.504          0              180            0
  58  Cabinet         2.041          2.113          1.766          0              0              0
  59  Cabinet         1.514          0.388          2.360          0              0              0
  60  Cabinet         0.351          0.388          2.360          0              0              0
  61  Cabinet         2.041          1.810          0.872          0              0              0
  62  Drawer          2.167          0.774          0.582          0              0              0
  63  Cabinet         2.041          2.113          0.892          0              0              0
  64  CounterTop      2.060          0.973          0.583          0              0              0
  65  Sink            0.935          0.936          2.646          0              0              0
  66  Curtains        0.964          2.061          2.989          0              0              0
  67  StoveBurner     1.863          0.929          1.106          0              0              0
  68  Drawer          1.911          0.774          2.060          0              0              0
  69  StoveKnob       2.326          1.092          1.610          288.013        90             0
  70  StoveKnob       2.326          1.092          1.460          288.013        90             0
  71  StoveKnob       2.326          1.092          1.210          288.013        90             0
  72  StoveKnob       2.326          1.092          1.050          288.013        90             0
  73  Toaster         2.126          0.926          0.572          0              270            0
  74  Fridge          2.104          0.0            -0.279         0              270            0
  75  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  76  LightSwitch     0.354          1.518          -1.031         0              0              0
  77  SinkBasin       0.903          0.784          2.640          0              0              0
  78  Microwave       -0.310         0.926          2.077          0              90             0
  79  CoffeeMachine   2.084          0.927          2.667          0              225            0
  80  DiningTable     -0.153         -0.000         1.073          0              270            0
  81  Faucet          1.175          0.926          2.950          270            90             0
  82  Faucet          0.686          0.926          2.950          270            90             0
  83  Chair           -0.077         0.002          0.196          0              15.000         0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: Turn around and walk to the white table to the left of the microwave.  | STEP 2: Pick up the wine glass in front of the sponge.  | STEP 3: Walk to the microwave to the right of the table.  | STEP 4: Open the microwave door, put the glass in the microwave, close the door, open the door, take the glass out of the microwave, and close the door.  | STEP 5: Turn around and face the cabinet below the counter to the left of the stove.  | STEP 6: Open the cabinet door, place the glass in the cabinet, close the door.  | END