Task: Put the heated glass 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           1.0            0.901          0.0            0              90             0
   1  WineBottle      2.225          0.939          0.361          0              0              0              67
   2  Ladle           1.850          0.791          1.922          0              90             0              71
   3  DishSponge      2.002          0.081          2.057          0              0              0              52
   4  ButterKnife     1.917          0.938          0.583          0              180            0              67
   5  Spoon           0.002          0.747          2.197          0              0              0              55
   6  Fork            0.629          0.795          2.64           0              0              0              80
   7  Egg             2.304          0.980          2.063          0              0              0              56
   8  Cup             2.116          0.859          -0.369         0              270            0              77
   9  Cup             2.301          0.936          0.806          0              0              0              67
  10  Knife           -0.119         0.816          1.386          0              0              0              83
  11  Tomato          -0.349         0.837          1.217          0              0              0              83
  12  Tomato          2.076          1.565          -0.007         0              270            0              77
  13  Bowl            2.023          0.335          -0.097         0              270            0              77
  14  Bowl            2.112          1.318          -0.369         0              270            0              77
  15  SaltShaker      1.840          0.933          0.509          0              0              0              67
  16  SaltShaker      -0.425         0.785          1.049          0              0              0              83
  17  PepperShaker    -0.195         0.932          2.451          0              0              0              56
  18  PepperShaker    1.849          0.077          2.057          0              0              0              52
  19  Lettuce         -0.119         0.852          1.049          0              90             0              83
  20  Lettuce         2.179          1.580          -0.278         0              270            0              77
  21  Mug             2.064          0.989          2.462          0              225            0              82
  22  Mug             2.207          0.597          -0.007         0              270            0              77
  23  Apple           -0.042         0.840          1.217          0              0              0              83
  24  Apple           0.174          0.987          2.757          0              0              0              56
  25  Egg             1.223          0.837          2.529          0              0              0              80
  26  Lettuce         1.556          0.999          2.511          0              0              0              56
  27  Fork            -0.042         0.782          0.377          0              0              0              83
  28  SoapBottle      -0.042         0.782          0.881          0              0              0              83
  29  Ladle           1.906          0.790          0.446          0              90             0              65
  30  Ladle           -0.042         0.835          0.545          0              0              0              83
  31  Bread           -0.203         0.824          0.813          0              0              0              83
  32  SaltShaker      -0.396         0.932          2.827          0              0              0              56
  33  Potato          2.179          1.559          -0.460         0              270            0              77
  34  Pan             2.140          0.935          1.504          0              180            0              51
  35  WineBottle      0.060          0.938          2.548          0              0              0              56
  36  Spatula         -0.349         0.805          1.049          0              270            0              83
  37  Knife           2.024          0.771          2.197          0              270            0              71
  38  Tomato          2.112          1.369          -0.097         0              270            0              77
  39  Apple           -0.272         0.840          0.377          0              0              0              83
  40  ButterKnife     -0.042         0.782          0.713          0              0              0              83
  41  Pot             1.854          0.937          1.497          0              0              0              60
  42  PepperShaker    1.840          0.933          0.657          0              0              0              67
  43  Cup             2.112          1.319          -0.550         0              270            0              77
  44  DishSponge      1.118          0.794          2.584          0              0              0              80
  45  Plate           -0.312         0.781          0.409          0              0              0              83
  46  Spoon           -0.196         0.792          1.217          0              0              0              83
  47  Mug             2.244          1.496          2.514          0              0              0              49
  48  Bowl            -0.362         1.032          1.961          0              90             0              81
  49  Cabinet         2.041          2.113          2.618          0              0              0
  50  Cabinet         0.126          0.388          1.774          0              0              0
  51  StoveBurner     2.140          0.929          1.504          0              180            0
  52  Cabinet         1.760          0.388          2.346          0              0              0
  53  Cabinet         1.760          0.388          0.869          0              0              0
  54  Cabinet         2.041          1.810          0.283          0              0              0
  55  Drawer          -0.024         0.774          2.061          0              0              0
  56  CounterTop      1.065          0.973          2.666          0              0              0
  57  Cabinet         1.969          2.113          2.618          0              0              0
  58  StoveBurner     2.140          0.929          1.106          0              0              0
  59  Cabinet         2.041          2.113          1.809          0              0              0
  60  StoveBurner     1.866          0.929          1.504          0              180            0
  61  Cabinet         2.041          2.113          1.766          0              0              0
  62  Cabinet         1.514          0.388          2.360          0              0              0
  63  Cabinet         0.351          0.388          2.360          0              0              0
  64  Cabinet         2.041          1.810          0.872          0              0              0
  65  Drawer          2.167          0.774          0.582          0              0              0
  66  Cabinet         2.041          2.113          0.892          0              0              0
  67  CounterTop      2.060          0.973          0.583          0              0              0
  68  Sink            0.935          0.936          2.646          0              0              0
  69  Curtains        0.964          2.061          2.989          0              0              0
  70  StoveBurner     1.863          0.929          1.106          0              0              0
  71  Drawer          1.911          0.774          2.060          0              0              0
  72  StoveKnob       2.326          1.092          1.610          288.013        90             0
  73  StoveKnob       2.326          1.092          1.460          288.013        90             0
  74  StoveKnob       2.326          1.092          1.210          288.013        90             0
  75  StoveKnob       2.326          1.092          1.050          288.013        90             0
  76  Toaster         2.126          0.926          0.572          0              270            0
  77  Fridge          2.104          0.0            -0.279         0              270            0
  78  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  79  LightSwitch     0.354          1.518          -1.031         0              0              0
  80  SinkBasin       0.903          0.784          2.640          0              0              0
  81  Microwave       -0.310         0.926          2.077          0              90             0
  82  CoffeeMachine   2.084          0.927          2.667          0              225            0
  83  DiningTable     -0.153         -0.000         1.073          0              270            0
  84  Faucet          1.175          0.926          2.950          270            90             0
  85  Faucet          0.686          0.926          2.950          270            90             0
  86  Chair           -0.077         0.002          0.196          0              15.000         0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn left walk few steps then turn right to the toaster | STEP 2: Pick up the glass beside the toaster | STEP 3: Turn right then walk forward head to the microwave | STEP 4: Open then microwave heat the glass then take it out and close the microwave | STEP 5: Turn left move a few steps then turn left open the left side of the cabinet beside the oven | STEP 6: Put the glass inside the cabinet then close it again | END