Task: Put a heated glass in the cabinet above the bread on the counter.

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          1.0            0              0              0
   1  DishSponge      -2.019         0.423          1.375          0              270            0              98
   2  Kettle          0.678          0.964          1.345          0              0              0              83
   3  ButterKnife     0.193          0.765          -0.707         0              180            0              102
   4  Pot             0.281          0.964          1.347          0              0              0              60
   5  Fork            2.488          0.912          1.383          0              0              0              80
   6  Fork            -0.157         0.766          -0.707         0              90             0              102
   7  Spatula         1.955          0.926          1.214          0              0              0              80
   8  Cup             1.395          0.909          -0.345         0              0              0              45
   9  Tomato          0.123          0.797          -0.762         0              0              0              102
  10  Tomato          1.688          0.942          1.044          0              0              0              80
  11  Bowl            2.900          0.724          -0.504         0              0              0              100
  12  Bowl            1.955          0.909          1.468          0              0              0              80
  13  PepperShaker    2.754          0.908          1.553          0              0              0              80
  14  Bread           1.688          0.969          1.468          0              0              0              80
  15  Bread           1.155          0.969          1.468          0              0              0              80
  16  Lettuce         -0.151         0.992          1.383          0              0              0              56
  17  Lettuce         2.221          0.992          1.129          0              0              0              80
  18  Mug             -0.694         0.815          -1.360         0              90             0              104
  19  Mug             -0.246         0.906          1.129          0              0              0              56
  20  Apple           -0.939         0.889          -1.328         0              0              0              104
  21  Apple           2.653          1.357          -0.709         0              0              0              100
  22  SoapBottle      1.484          1.661          -0.810         0              180            0              67
  23  Plate           2.211          0.902          -0.462         0              0              0              45
  24  Fork            2.743          0.771          1.198          0              270            0              89
  25  Pot             2.838          1.567          -0.578         0              0              0              100
  26  Bread           1.030          0.953          -0.518         0              0              0              45
  27  Egg             2.653          1.326          -0.840         0              0              0              100
  28  Kettle          0.710          0.9            -0.772         0              0              0              45
  29  Tomato          1.155          0.942          1.044          0              0              0              80
  30  Cup             1.917          1.653          1.429          0              0              0              57
  31  Spatula         -0.983         0.835          -1.411         0              180            0              104
  32  Apple           -0.103         0.980          1.214          0              0              0              56
  33  Pan             0.637          0.960          1.090          0              0              0              48
  34  Lettuce         2.754          0.992          1.299          0              0              0              80
  35  SaltShaker      -0.983         0.817          -1.155         0              90             0              104
  36  Knife           2.221          0.944          1.468          0              0              0              80
  37  Potato          2.591          0.761          -0.473         0              0              0              100
  38  PepperShaker    0.825          1.651          -0.732         0              180            0              84
  39  ButterKnife     0.888          0.901          -0.430         0              0              0              45
  40  Bowl            0.231          2.154          1.467          0              0              0              79
  41  DishSponge      2.205          0.770          -0.460         0              180            0              58
  42  Spoon           -0.103         0.912          1.044          0              0              0              56
  43  Mug             1.428          0.965          -0.577         0              0              0              45
  44  Sink            0.050          0.902          -0.648         0              0              0
  45  CounterTop      1.358          0.947          -0.600         0              0              0
  46  Cabinet         2.986          2.009          1.304          0              0              0
  47  Cabinet         1.022          2.009          -0.607         0              180            0
  48  StoveBurner     0.678          0.923          1.082          0              0              0
  49  Cabinet         2.371          0.402          0.995          0              0              0
  50  Drawer          -0.125         0.792          0.995          0              0              0
  51  StoveBurner     0.281          0.923          1.082          0              0              0
  52  Cabinet         1.025          0.402          0.995          0              0              0
  53  Cabinet         1.023          0.402          -0.296         0              180            0
  54  Cabinet         0.974          2.259          1.304          0              0              0
  55  Cabinet         0.979          2.009          -0.607         0              180            0
  56  CounterTop      -0.158         0.947          1.299          0              0              0
  57  Cabinet         1.725          2.009          1.304          0              0              0
  58  Drawer          2.205          0.792          -0.294         0              180            0
  59  Drawer          1.869          0.792          -0.294         0              180            0
  60  StoveBurner     0.281          0.923          1.347          0              0              0
  61  Drawer          2.512          0.792          0.995          0              0              0
  62  Cabinet         1.673          0.402          -0.296         0              180            0
  63  Drawer          1.524          0.792          0.995          0              0              0
  64  Drawer          1.174          0.792          -0.294         0              180            0
  65  Cabinet         1.720          0.402          0.995          0              0              0
  66  Cabinet         2.348          2.009          -0.607         0              180            0
  67  Cabinet         1.676          2.009          -0.607         0              180            0
  68  Cabinet         1.673          2.009          1.304          0              0              0
  69  Cabinet         2.326          2.009          1.304          0              0              0
  70  Cabinet         2.370          2.009          1.304          0              0              0
  71  Cabinet         0.021          2.009          1.304          0              0              0
  72  Cabinet         1.025          2.009          1.304          0              0              0
  73  Cabinet         -0.274         0.402          0.995          0              0              0
  74  Cabinet         1.675          0.402          0.995          0              0              0
  75  Drawer          1.524          0.792          -0.294         0              180            0
  76  Drawer          2.187          0.792          0.995          0              0              0
  77  Cabinet         2.977          0.402          0.995          0              0              0
  78  Drawer          1.862          0.792          0.995          0              0              0
  79  Cabinet         0.072          2.259          1.304          0              0              0
  80  CounterTop      1.917          0.947          1.299          0              0              0
  81  Cabinet         2.328          0.402          0.995          0              0              0
  82  Cabinet         1.723          2.009          -0.607         0              180            0
  83  StoveBurner     0.677          0.923          1.345          0              0              0
  84  Cabinet         0.355          2.009          -0.607         0              180            0
  85  Cabinet         0.332          2.009          -0.607         0              180            0
  86  Cabinet         2.349          0.402          -0.296         0              180            0
  87  Cabinet         -0.284         2.009          -0.607         0              180            0
  88  Faucet          0.061          0.906          -0.903         0              0              0
  89  Drawer          2.837          0.792          0.995          0              0              0
  90  Drawer          1.175          0.792          0.995          0              0              0
  91  Cabinet         1.723          0.402          -0.296         0              180            0
  92  StoveKnob       0.588          1.093          1.557          287.970        0              0
  93  StoveKnob       0.188          1.093          1.557          287.970        0              0
  94  StoveKnob       0.749          1.093          1.557          287.970        0              0
  95  StoveKnob       0.338          1.093          1.557          287.970        0              0
  96  Toaster         1.934          0.900          -0.717         0              0              0
  97  LightSwitch     -1.662         1.427          1.649          0              180            0
  98  GarbageCan      -1.965         -0.029         1.358          0              270            0
  99  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 100  Fridge          3.043          0.0            -0.709         0              0              0
 101  Window          -2.183         1.501          -0.014         90             270            0
 102  SinkBasin       0.043          0.755          -0.651         0              0              0
 103  Microwave       0.531          1.675          1.437          0              180            0
 104  DiningTable     -0.836         8.404          -1.258         0              0              0
 105  Chair           -1.611         0.002          -1.185         0              45             0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: Move to the cabinet on the left, above the lettuce.  | STEP 2: Pick up the glass in the cabinet. | STEP 3: Bring the glass to the microwave. | STEP 4: Heat the glass in the microwave. | STEP 5: Bring the glass to the counter left of the sink.  | STEP 6: Put the glass in the cabinet above the bread on the counter.  | END