Task: To move two glass to the second shelf from the top of the shelves.

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           0.900          0.5            0              180            0
   1  Pan             -0.197         1.111          -0.001         0              90             0              62
   2  Vase            1.098          0.908          -2.407         0              0              0              64
   3  Potato          -1.999         0.257          0.837          0              90             0              95
   4  Potato          -0.059         1.142          -0.759         0              0              0              62
   5  Plate           -0.197         1.108          -0.506         0              0              0              62
   6  Plate           -1.963         0.766          -1.673         0              90             0              97
   7  Cup             -1.611         0.909          0.230          0              0              0              87
   8  SoapBottle      1.996          0.554          -2.666         0              180            0              92
   9  SaltShaker      1.686          0.877          -2.617         0              180            0              89
  10  SaltShaker      0.969          0.907          -2.253         0              0              0              64
  11  PepperShaker    -1.200         0.133          -2.503         0              0              0              80
  12  PepperShaker    -1.870         0.150          -0.197         0              90             0              85
  13  Bread           -1.937         0.983          -2.146         0              0              0              87
  14  Bread           -2.078         0.870          1.085          0              90             0              95
  15  Lettuce         -2.080         0.620          0.920          0              90             0              95
  16  Apple           -1.438         0.961          -2.483         0              0              0              87
  17  Fork            -1.586         0.911          -1.122         0              90             0              87
  18  Spoon           0.217          1.112          -0.759         0              0              0              62
  19  Spoon           -0.473         1.112          -0.506         0              0              0              62
  20  Mug             -1.104         0.132          -2.453         0              0              0              80
  21  Mug             -1.731         0.956          -0.168         0              90             0              96
  22  ButterKnife     -0.197         1.111          0.504          0              0              0              62
  23  WineBottle      0.582          0.911          -2.714         0              0              0              64
  24  WineBottle      -1.907         0.048          1.981          0              270            0              93
  25  DishSponge      -1.908         0.769          -1.414         0              90             0              97
  26  Bowl            1.478          0.549          -2.614         0              180            0              92
  27  Book            0.155          1.1            0.617          0              315            0              62
  28  Glassbottle     -1.856         0.912          -0.884         0              0              0              87
  29  Knife           0.711          0.936          -2.407         0              0              0              64
  30  Bread           -1.611         0.983          -0.884         0              0              0              87
  31  Fork            1.008          0.481          -2.331         0              0              0              70
  32  Potato          -1.962         0.078          2.124          0              270            0              93
  33  SoapBottle      2.096          0.881          -2.563         0              180            0              89
  34  Kettle          -1.013         1.657          -2.604         0              0              0              78
  35  Pan             -0.465         0.950          -2.372         0              90             0              60
  36  Plate           -0.335         1.108          0.251          0              0              0              62
  37  Tomato          -0.059         1.150          -0.253         0              0              0              62
  38  Vase            -0.197         1.113          -0.253         0              0              0              62
  39  Egg             0.582          0.945          -2.484         0              0              0              64
  40  CreditCard      0.893          0.478          -2.429         0              0              0              70
  41  Statue          1.685          0.551          -2.614         0              0              0              92
  42  WineBottle      0.079          1.112          -0.759         0              0              0              62
  43  Pot             -1.705         0.140          -1.273         0              90             0              63
  44  Spatula         1.064          0.157          -2.431         0              90             0              82
  45  PaperTowelRoll  0.324          1.014          -2.330         0              0              0              64
  46  Cup             0.324          0.908          -2.637         0              0              0              64
  47  Vase            0.217          1.109          -0.253         0              0              0              62
  48  Bowl            -0.225         1.787          -2.546         0              0              0              88
  49  SaltShaker      0.950          0.477          -2.478         0              0              0              70
  50  PepperShaker    -0.848         0.907          -2.637         0              0              0              87
  51  Lettuce         -2.081         1.582          1.260          0              90             0              95
  52  ButterKnife     -0.995         0.911          -2.483         0              0              0              87
  53  Apple           0.355          1.162          0.251          0              0              0              62
  54  DishSponge      1.993          0.880          -2.536         0              180            0              92
  55  Spoon           -1.694         0.479          -0.196         0              90             0              77
  56  Mug             -0.059         1.106          0.757          0              0              0              62
  57  StoveBurner     -0.036         0.915          -2.372         0              0              0
  58  Drawer          0.949          0.832          -2.197         0              0              0
  59  Drawer          -1.560         0.839          0.204          0              90             0
  60  StoveBurner     -0.465         0.915          -2.371         0              180            0
  61  Drawer          -1.560         0.839          -0.197         0              90             0
  62  CounterTop      -0.079         1.147          -0.001         0              0              0
  63  Cabinet         -1.549         0.494          -1.964         0              90             0
  64  CounterTop      0.693          0.946          -2.483         0              0              0
  65  StoveBurner     -0.036         0.915          -2.576         0              0              0
  66  Drawer          0.949          0.393          -2.200         0              0              0
  67  Drawer          0.949          0.708          -2.200         0              0              0
  68  Cabinet         -1.549         0.494          0.379          0              90             0
  69  StoveKnob       -0.022         0.881          -2.187         45             0              0
  70  Drawer          0.949          0.560          -2.201         0              0              0
  71  StoveBurner     -0.465         0.915          -2.575         0              180            0
  72  Window          -2.230         1.429          -1.203         0              0              0
  73  StoveKnob       -0.483         0.881          -2.187         45             0              0
  74  Sink            -1.899         0.964          -1.5           0              90             0
  75  StoveKnob       -0.328         0.881          -2.187         45             0              0
  76  Cabinet         -0.727         2.015          -2.460         0              0              0
  77  Drawer          -1.560         0.655          -0.196         0              90             0
  78  Cabinet         -1.685         2.015          -2.461         0              0              0
  79  Cabinet         0.680          0.494          -2.200         0              0              0
  80  Cabinet         -1.179         0.494          -2.200         0              0              0
  81  Cabinet         -1.849         2.015          0.379          0              90             0
  82  Drawer          0.949          0.221          -2.200         0              0              0
  83  StoveKnob       -0.183         0.881          -2.187         45             0              0
  84  Cabinet         0.719          2.015          -2.460         0              0              0
  85  Drawer          -1.560         0.331          -0.196         0              90             0
  86  Cabinet         0.680          2.015          -2.460         0              0              0
  87  CounterTop      -1.868         0.946          -1.205         0              0              0
  88  Microwave       -0.236         1.689          -2.525         0              0              0
  89  Shelf           1.751          0.880          -2.560         0              0              0
  90  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  91  Toaster         -1.835         0.900          0.134          0              90             0
  92  Shelf           1.750          0.552          -2.559         0              0              0
  93  GarbageCan      -1.935         -0.002         2.029          0              270            0
  94  Shelf           1.750          0.172          -2.559         0              0              0
  95  Fridge          -2.096         0.0            1.088          0              0              0
  96  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  97  SinkBasin       -1.908         0.759          -1.488         0              90             0
  98  LightSwitch     2.329          1.309          -0.159         0              270            0
  99  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 100  Stool           0.702          0.000          -0.514         1.202          65.108         0
 101  Stool           0.743          0.000          0.563          1.227          106.706        0
 102  Faucet          -2.070         1.132          -1.514         0              0              0
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: Walk across the room and face the counter to the left of the stove. | STEP 2: Pick up the cup on the counter. | STEP 3: Step to the left and face the shelves on the wall. | STEP 4: Place the cup in the middle on the second shelf from the top. | STEP 5: Turn right and walk across the room, then turn right and walk to the end of the counter and turn left to face the counter. | STEP 6: Pick up the glass on the end of the counter. | STEP 7: Turn left and walk across the room, then turn left and walk across the room and turn right to face the shelves. | STEP 8: Place the glass on the right of the first glass. | END