Task: Move glass from upper cupboard to lower cupboard

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.75          0.900          -0.5           0              270            0
   1  Pan             -1.515         0.935          -3.752         0              90             0              50
   2  Glassbottle     -0.499         0.082          -1.895         0              0              0              49
   3  Glassbottle     -2.210         0.924          -2.115         0              0              0              79
   4  Pencil          -0.743         0.916          -3.697         0              0              0              54
   5  Pencil          -0.222         0.908          -3.570         0              0              0              54
   6  Pen             -0.671         0.918          -3.839         0              0              0              54
   7  Potato          -0.343         1.422          -0.560         0              270            0              71
   8  ButterKnife     -2.324         0.923          -0.963         0              90             0              79
   9  WineBottle      -2.210         0.924          -1.654         0              0              0              79
  10  Pot             -1.129         0.935          -3.498         0              0              0              52
  11  Spatula         -2.552         0.938          -1.193         0              180            0              79
  12  Fork            -0.398         0.797          -2.155         0              180            0              72
  13  Spoon           -2.324         0.924          -1.193         0              0              0              79
  14  Spoon           -2.210         0.924          -1.423         0              0              0              79
  15  Knife           -2.666         0.946          -2.115         0              0              0              79
  16  Plate           -0.392         1.101          -0.560         0              270            0              71
  17  SoapBottle      -0.671         0.914          -3.626         0              0              0              54
  18  Tomato          -2.780         0.987          -1.654         0              0              0              79
  19  Tomato          -0.295         1.454          -0.979         0              270            0              71
  20  Lettuce         -2.552         1.016          -1.423         0              0              0              79
  21  SaltShaker      -0.685         0.078          -3.623         0              0              0              58
  22  SaltShaker      -0.421         0.077          -3.236         0              0              0              60
  23  Apple           -0.246         1.464          -0.665         0              270            0              71
  24  Apple           -1.943         0.100          -3.799         0              0              0              70
  25  Lettuce         -2.562         1.002          -1.677         36.385         0              0              79
  26  Glassbottle     -0.267         1.531          -3.665         0              45             0              62
  27  Egg             -2.324         0.956          -1.654         0              0              0              79
  28  Pen             -2.666         0.926          -2.345         0              0              0              79
  29  Fork            -2.666         0.924          -1.423         0              0              0              79
  30  SoapBottle      -2.666         0.922          -1.193         0              0              0              79
  31  Pencil          -2.666         0.923          -1.884         0              0              0              79
  32  WineBottle      -2.096         0.924          -1.884         0              0              0              79
  33  Spatula         -2.324         0.938          -1.423         0              0              0              79
  34  Bread           -0.410         0.953          -3.626         0              1.669          0              54
  35  Tomato          -0.254         0.861          -2.008         0              270            0              72
  36  Pan             -2.174         0.913          -1.099         0              0              0              79
  37  Cup             -0.205         1.969          -1.663         0              0              0              56
  38  Pot             -2.210         0.922          -2.345         0              0              0              79
  39  SaltShaker      -1.153         1.965          -3.812         0              0              0              63
  40  Potato          -1.257         1.661          -3.837         0              0              0              67
  41  PepperShaker    -0.671         0.912          -3.768         0              0              0              54
  42  ButterKnife     -2.438         0.923          -2.115         0              0              0              79
  43  DishSponge      -2.780         0.923          -0.963         0              0              0              79
  44  Spoon           -2.438         0.924          -0.963         0              0              0              79
  45  Plate           -0.295         1.101          -0.979         0              270            0              71
  46  Knife           -2.438         0.946          -1.884         0              90             0              79
  47  Mug             -0.351         0.962          -3.144         0              270            0              68
  48  Bowl            -0.348         1.689          -0.874         0              270            0              71
  49  Cabinet         -0.582         0.388          -1.804         0              0              0
  50  StoveBurner     -1.515         0.928          -3.752         0              90             0
  51  StoveBurner     -1.515         0.928          -3.497         0              0              0
  52  StoveBurner     -1.129         0.928          -3.498         0              0              0
  53  Drawer          -0.749         0.779          -3.551         0              0              0
  54  CounterTop      -0.303         0.951          -2.793         0              0              0
  55  Cabinet         -0.883         2.140          -3.687         0              0              0
  56  Cabinet         -0.312         2.140          -1.543         0              0              0
  57  Sink            -0.349         0.907          -2.014         0              0              0
  58  Cabinet         -0.877         0.388          -3.422         0              0              0
  59  Cabinet         -0.582         0.388          -2.197         0              0              0
  60  Cabinet         -0.584         0.388          -3.396         0              0              0
  61  Cabinet         -0.312         2.140          -2.481         0              0              0
  62  Cabinet         -0.330         1.921          -3.390         0              0              0
  63  Cabinet         -1.764         2.140          -3.687         0              0              0
  64  StoveBurner     -1.129         0.928          -3.752         0              90             0
  65  Drawer          -0.454         0.779          -3.268         0              0              0
  66  Cabinet         -0.302         1.916          -2.501         0              0              0
  67  Microwave       -1.317         1.517          -3.801         0              1.440          0
  68  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  69  LightSwitch     -4.323         1.319          0.0            0              180            0
  70  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  71  Fridge          -0.330         0.0            -0.769         0              270            0
  72  SinkBasin       -0.350         0.786          -2.018         0              270            0
  73  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  74  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  75  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  76  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  77  Toaster         -0.181         0.903          -2.764         0              270            0
  78  Window          -2.503         1.782          -4.185         90             180            0
  79  DiningTable     -2.432         0.000          -1.694         0              270            0
  80  Shelf           -2.432         0.150          -1.694         0              270            0
  81  Blinds          -2.536         2.699          -3.959         0              0              0
  82  Faucet          -0.079         0.904          -2.034         270            180            0
  83  Chair           -3.264         0.002          -2.094         0              53.280         0
  84  Chair           -3.240         0.002          -1.253         0              117.257        0
  85  Shelf           -2.432         0.523          -1.694         0              270            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn around, walk forward past table, turn right, walk forward halfway length of table, turn left, walk forward to sink, look up | STEP 2: Open cupboard above sink, grab glass from cupboard | STEP 3: Turn left, walk to wall, turn right facing refrigerator | STEP 4: Open refrigerator, place glass on shelf, close refrigerator, open refrigerator, remove glass, close refrigerator | STEP 5: Turn right, walk forward to oven | STEP 6: Open cupboard on left side of oven, place glass inside cupboard, close cupboard | END