Task: Put an empty glass in the cabinet above the store.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          2.5            0              180            0
   1  Pan             1.412          0.929          -0.335         0              0              0              44
   2  DishSponge      -0.211         0.910          0.647          0              0              0              43
   3  ButterKnife     -2.455         0.910          0.931          0              0              0              71
   4  Kettle          -0.341         0.911          0.423          0              0              0              43
   5  Spoon           -2.379         0.774          1.370          0              90             0              74
   6  Pot             1.691          0.929          -0.335         0              0              0              51
   7  Pot             1.411          0.929          0.064          0              0              0              72
   8  Egg             -2.570         1.046          2.278          0              90             0              83
   9  Egg             1.684          0.941          -0.684         0              0              0              53
  10  Cup             -2.532         1.087          -0.696         0              90             0              75
  11  Cup             -0.341         0.908          0.870          0              0              0              43
  12  Knife           -2.538         0.936          1.230          0              0              0              71
  13  Knife           -2.257         0.799          1.417          0              270            0              74
  14  Tomato          -2.704         0.953          0.331          0              0              0              71
  15  PepperShaker    -2.289         0.905          0.631          0              0              0              71
  16  SaltShaker      0.997          0.905          -1.119         0              45             0              57
  17  Mug             0.464          0.955          -1.593         0              0              0              53
  18  Mug             -2.206         0.905          1.230          0              0              0              71
  19  Apple           1.604          0.246          0.706          0              0              0              82
  20  Pan             0.0            0.9            0.948          0              29.999         0              43
  21  Knife           -2.206         0.936          0.031          0              90             0              71
  22  Apple           -2.393         1.150          -0.885         0              90             0              75
  23  Bowl            -2.485         1.297          -0.885         0              90             0              75
  24  Fork            -0.081         0.911          0.647          0              0              0              43
  25  Bread           -0.712         0.980          0.426          0              346.287        0              43
  26  Plate           -2.466         0.597          -0.962         0              90             0              75
  27  Egg             -2.635         1.046          2.481          0              90             0              83
  28  Kettle          -2.289         0.911          1.530          0              0              0              71
  29  Potato          -2.570         1.051          2.481          0              90             0              83
  30  SaltShaker      -2.289         0.905          0.931          0              0              0              71
  31  Lettuce         0.048          0.994          1.317          0              0              0              43
  32  Cup             -2.532         1.298          -0.507         0              90             0              75
  33  SoapBottle      -0.471         0.912          1.540          0              0              0              43
  34  Spatula         -2.704         0.925          0.931          0              90             0              71
  35  PaperTowelRoll  -0.471         1.015          1.094          0              0              0              43
  36  ButterKnife     -0.211         0.910          1.540          0              0              0              43
  37  PepperShaker    -0.471         0.905          1.317          0              0              0              43
  38  DishSponge      1.769          0.910          0.376          0              0              0              52
  39  Pot             1.691          0.929          0.064          0              0              0              54
  40  Spoon           0.817          0.912          -1.529         0              45             0              53
  41  Tomato          -2.578         1.342          -0.696         0              90             0              75
  42  Mug             1.428          0.905          -0.726         0              0              0              53
  43  CounterTop      -0.360         0.946          1.093          0              0              0
  44  StoveBurner     1.412          0.923          -0.335         0              0              0
  45  StoveKnob       1.878          1.093          0.018          287.989        90             0
  46  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  47  Cabinet         -2.446         1.948          2.924          0              0              0
  48  Drawer          -2.276         0.792          0.902          0              0              0
  49  Cabinet         -2.145         0.402          1.578          0              0              0
  50  Cabinet         0.149          2.008          -1.603         0              90             0
  51  StoveBurner     1.691          0.923          -0.335         0              0              0
  52  CounterTop      1.585          0.946          0.405          0              0              0
  53  CounterTop      0.474          0.946          -1.625         0              0              0
  54  StoveBurner     1.691          0.923          0.064          0              0              0
  55  Cabinet         -2.446         1.948          1.687          0              0              0
  56  Cabinet         -2.446         1.948          1.640          0              0              0
  57  Sink            1.381          0.810          -1.271         0              225            0
  58  StoveKnob       1.878          1.093          0.150          287.989        90             0
  59  Cabinet         -2.145         0.402          -0.236         0              0              0
  60  Drawer          -2.276         0.792          0.437          0              0              0
  61  Drawer          -2.276         0.792          -0.027         0              0              0
  62  Cabinet         1.572          2.008          0.474          0              0              0
  63  Cabinet         1.572          2.008          -0.775         0              0              0
  64  Cabinet         -2.445         2.148          -1.275         0              0              0
  65  Cabinet         -2.446         2.148          -0.284         0              0              0
  66  Cabinet         -2.446         1.948          0.355          0              0              0
  67  Cabinet         -2.446         1.948          0.405          0              0              0
  68  Cabinet         -2.145         0.402          0.644          0              0              0
  69  Cabinet         -2.145         0.402          0.695          0              0              0
  70  Cabinet         -2.285         1.968          -1.325         0              180            0
  71  CounterTop      -1.485         0.946          1.319          0              0              0
  72  StoveBurner     1.411          0.923          0.064          0              0              0
  73  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  74  Drawer          -2.276         0.792          1.368          0              0              0
  75  Fridge          -2.475         0.0            -0.782         0              90             0
  76  LightSwitch     -0.929         1.350          -1.950         0              0              0
  77  Toaster         -2.564         0.900          1.876          0              90             0
  78  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  79  Window          1.508          1.534          -1.496         90             135            0
  80  Window          1.973          1.521          1.121          90             90             0
  81  SinkBasin       1.149          0.753          -1.380         0              225            0
  82  GarbageCan      1.646          -0.000         0.679          0              0              0
  83  Microwave       -2.580         0.900          2.440          0              90             0
  84  Stool           0.439          0.010          0.747          0              0              0
  85  Stool           -2.303         0.010          1.839          0              0              0
  86  Faucet          1.235          1.138          -1.473         0              225            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Take seven steps forward and turn right to face the island counter. | STEP 2: Pick up the glass back by the roll of paper towels. | STEP 3: Turn left for six steps, turn left and toward the counter then turn right to face the sink. | STEP 4: Put the glass in the sink under the faucet and fill the glass with water.  | STEP 5: Pick up the glass of water and turn around and go to the stove and drink the water. | STEP 6: Open the right cabinet door and put the glass on the shelf, on the left side and shut the door. | END