Task: To heat a glass and put 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           -1.5           0.900          1.0            0              180            0
   1  Potato          -0.598         0.933          -1.119         0              47.530         0              69
   2  DishSponge      -0.344         0.910          -1.365         0              0              0              69
   3  DishSponge      -2.540         0.910          -1.365         0              0              0              69
   4  Spoon           -2.585         0.747          0.163          0              0              0              67
   5  Spoon           0.610          0.912          -1.282         0              90             0              69
   6  Fork            -1.910         0.747          -1.094         0              90             0              64
   7  Plate           0.997          0.913          -1.199         0              0              0              69
   8  Egg             -2.699         0.071          1.571          0              0              0              80
   9  Egg             -2.757         0.071          1.571          0              0              0              80
  10  Tomato          0.548          1.161          1.479          0              315            0              62
  11  Bowl            -2.860         0.377          0.690          0              90             0              81
  12  Bowl            -1.569         0.116          -1.068         0              0              0              46
  13  PepperShaker    -1.115         0.113          -1.068         0              0              0              42
  14  PepperShaker    -0.063         1.108          1.868          0              315            0              62
  15  SaltShaker      -0.657         1.658          -1.322         0              0              0              57
  16  Mug             0.241          1.004          -1.381         0              0              0              82
  17  Mug             -2.438         0.906          -0.062         0              270            0              61
  18  Pan             -2.59          0.9            -1.147         0              0              0              69
  19  Apple           0.284          1.154          1.580          0              0              0              62
  20  Fork            -1.505         0.852          -1.305         0              90             0              79
  21  Kettle          -2.620         0.922          -0.724         0              0              0              60
  22  CreditCard      0.997          0.9            -0.982         0              334.941        0              69
  23  Bread           -2.740         1.528          0.932          0              90             0              81
  24  Plate           -2.236         0.913          -1.199         0              0              0              69
  25  SoapBottle      -0.748         0.899          -1.291         0              315            0              69
  26  Spatula         -2.552         0.922          0.010          0              0              0              61
  27  Lettuce         -2.660         0.874          0.983          31.046         0              0              81
  28  SaltShaker      -0.998         0.113          -0.994         0              0              0              42
  29  Tomato          -2.728         0.087          1.431          0              0              0              80
  30  PepperShaker    -0.146         1.108          1.413          0              315            0              62
  31  ButterKnife     -2.222         0.9            -0.997         0              323.977        0              69
  32  Pot             -2.823         0.928          -0.396         0              0              0              68
  33  DishSponge      -1.418         0.851          -1.25          0              0              0              79
  34  Egg             0.346          1.044          -1.248         0              0              0              82
  35  Spoon           0.920          0.912          -0.948         0              0              0              69
  36  Knife           0.060          1.106          1.587          270            209.997        0              62
  37  Cup             -1.119         0.841          -1.241         0              0              0              79
  38  Mug             0.398          1.000          -1.414         0              90             0              82
  39  Bowl            -2.860         0.818          0.771          0              90             0              81
  40  Cabinet         -2.647         2.075          -0.875         0              0              0
  41  Cabinet         -2.647         2.075          -0.234         0              0              0
  42  Cabinet         -0.824         0.469          -0.907         0              0              0
  43  Cabinet         -1.764         2.009          -1.197         0              0              0
  44  Cabinet         -1.834         2.009          -1.197         0              0              0
  45  Cabinet         -1.850         0.389          -0.897         0              0              0
  46  Cabinet         -1.801         0.469          -0.907         0              0              0
  47  Cabinet         1.115          2.009          -1.197         0              0              0
  48  Cabinet         0.235          2.009          -1.197         0              0              0
  49  Cabinet         1.125          0.470          -0.897         0              0              0
  50  Cabinet         -2.387         0.389          0.375          0              0              0
  51  Cabinet         0.484          0.389          -0.897         0              0              0
  52  Cabinet         -2.625         2.009          -1.197         0              0              0
  53  Cabinet         -2.647         2.009          -0.945         0              0              0
  54  Cabinet         -2.647         2.200          1.664          0              0              0
  55  Cabinet         -2.647         2.009          0.364          0              0              0
  56  Cabinet         0.164          2.009          -1.197         0              0              0
  57  Cabinet         -0.765         2.009          -1.197         0              0              0
  58  Cabinet         -0.834         2.009          -1.197         0              0              0
  59  Cabinet         -2.647         2.200          0.434          0              0              0
  60  StoveBurner     -2.622         0.886          -0.711         0              0              0
  61  CounterTop      -2.699         0.946          0.106          0              0              0
  62  CounterTop      0.908          1.147          0.788          0              315            0
  63  StoveBurner     -2.622         0.886          -0.396         0              0              0
  64  Drawer          -2.026         0.779          -1.082         0              0              0
  65  Sink            -1.328         0.916          -1.225         0              0              0
  66  StoveBurner     -2.822         0.886          -0.711         0              0              0
  67  Drawer          -2.572         0.779          0.099          0              0              0
  68  StoveBurner     -2.822         0.886          -0.396         0              0              0
  69  CounterTop      0.071          0.946          -1.199         0              0              0
  70  Drawer          0.254          0.779          -1.082         0              0              0
  71  LightSwitch     -1.167         1.307          3.0            0              180            0
  72  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  73  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  74  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  75  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  76  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  77  Window          0.321          1.449          3.088          90             0              0
  78  Toaster         -2.823         0.899          0.246          0              90             0
  79  SinkBasin       -1.344         0.838          -1.25          0              0              0
  80  GarbageCan      -2.757         1.886          1.466          0              0              0
  81  Fridge          -2.855         0.0            0.851          0              0              0
  82  Microwave       0.283          0.900          -1.331         0              0              0
  83  Stool           1.541          0.010          1.328          0              45             0
  84  Stool           0.983          0.010          1.793          0              47.459         0
  85  Faucet          -1.392         1.136          -1.399         0              270            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Walk to the sink straight ahead.  | STEP 2: Pick up the wine glass to the left of the sponge.  | STEP 3: Move to the counter space to the left of the dishwasher in front of the microwave.  | STEP 4: Place the glass in the microwave, heat up the glass, take the glass out of the microwave and close the door.  | STEP 5: Look up at the cabinets above the microwave.  | STEP 6: Open the door to the cabinet on the left, place the glass inside the cabinet, and close the door.  | END