Task: Put a warm 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           -1.25          0.900          0.25           0              270            0
   1  Plate           -0.197         1.108          0.251          0              0              0              57
   2  Cup             -2.122         1.500          1.008          0              90             0              90
   3  Cup             -2.163         0.538          1.334          0              90             0              90
   4  Egg             -1.962         0.083          1.885          0              270            0              88
   5  Egg             -2.162         0.833          0.920          0              90             0              90
   6  Tomato          -0.473         1.150          0.251          0              0              0              57
   7  SoapBottle      -1.622         1.659          -2.531         0              0              0              73
   8  PepperShaker    -1.622         1.654          -2.641         0              0              0              73
   9  Bread           0.355          1.184          -0.001         0              0              0              57
  10  Knife           0.453          0.936          -2.484         0              0              0              59
  11  Fork            1.064          0.142          -2.334         0              0              0              77
  12  Fork            0.582          0.911          -2.637         0              0              0              59
  13  Spatula         0.355          1.126          -0.506         0              0              0              57
  14  Pot             -0.197         1.115          -0.506         0              0              0              57
  15  Pot             -0.036         0.950          -2.576         0              270            0              60
  16  ButterKnife     -0.059         1.111          -0.759         0              0              0              57
  17  ButterKnife     -1.586         0.911          -2.329         0              0              0              82
  18  Glassbottle     0.450          0.141          -2.485         0              0              0              74
  19  WineBottle      1.891          0.881          -2.509         0              180            0              84
  20  WineBottle      0.620          0.141          -2.337         0              0              0              74
  21  Bowl            0.079          1.108          -0.506         0              0              0              57
  22  Book            0.155          1.1            0.617          0              315            0              57
  23  Glassbottle     -1.693         0.912          -2.036         0              0              0              82
  24  Knife           -0.848         0.936          -2.560         0              0              0              82
  25  Bread           -0.059         1.184          -0.001         0              0              0              57
  26  Fork            -1.740         0.154          -0.197         0              90             0              80
  27  Potato          -2.204         0.257          0.920          0              180            0              90
  28  SoapBottle      -1.129         1.657          -2.640         0              0              0              71
  29  Kettle          -0.473         1.112          -0.253         0              0              0              57
  30  Pan             -1.755         0.135          -1.623         0              180            0              58
  31  Plate           -0.059         1.108          -0.253         0              0              0              57
  32  Tomato          -1.852         0.808          -1.242         0              90             0              92
  33  Vase            0.341          1.662          -2.632         0              0              0              81
  34  Egg             -1.742         0.804          -1.414         0              90             0              92
  35  CreditCard      -0.059         1.108          0.251          0              0              0              57
  36  Statue          0.217          1.110          -0.001         0              270            0              57
  37  WineBottle      -0.995         0.912          -2.329         0              0              0              82
  38  Pot             -0.465         0.950          -2.576         0              90             0              66
  39  Spatula         0.781          0.791          -2.291         0              270            0              53
  40  PaperTowelRoll  0.711          1.014          -2.714         0              0              0              59
  41  Cup             -1.963         0.767          -1.414         0              90             0              92
  42  Vase            2.096          0.878          -2.536         0              180            0              84
  43  Bowl            -1.797         0.766          -1.587         0              90             0              92
  44  SaltShaker      1.478          0.549          -2.459         0              180            0              87
  45  PepperShaker    1.789          0.877          -2.563         0              180            0              84
  46  Lettuce         1.098          0.990          -2.637         0              0              0              59
  47  ButterKnife     -1.852         0.769          -1.501         0              270            0              92
  48  Apple           -1.907         0.098          1.981          0              270            0              88
  49  DishSponge      0.217          1.111          -0.759         0              0              0              57
  50  Spoon           -1.611         0.912          -0.141         0              90             0              56
  51  Mug             -1.665         0.124          0.248          0              90             0              63
  52  StoveBurner     -0.036         0.915          -2.372         0              0              0
  53  Drawer          0.949          0.832          -2.197         0              0              0
  54  Drawer          -1.560         0.839          0.204          0              90             0
  55  StoveBurner     -0.465         0.915          -2.371         0              180            0
  56  Drawer          -1.560         0.839          -0.197         0              90             0
  57  CounterTop      -0.079         1.147          -0.001         0              0              0
  58  Cabinet         -1.549         0.494          -1.964         0              90             0
  59  CounterTop      0.693          0.946          -2.483         0              0              0
  60  StoveBurner     -0.036         0.915          -2.576         0              0              0
  61  Drawer          0.949          0.393          -2.200         0              0              0
  62  Drawer          0.949          0.708          -2.200         0              0              0
  63  Cabinet         -1.549         0.494          0.379          0              90             0
  64  StoveKnob       -0.022         0.881          -2.187         45             0              0
  65  Drawer          0.949          0.560          -2.201         0              0              0
  66  StoveBurner     -0.465         0.915          -2.575         0              180            0
  67  Window          -2.230         1.429          -1.203         0              0              0
  68  StoveKnob       -0.483         0.881          -2.187         45             0              0
  69  Sink            -1.899         0.964          -1.5           0              90             0
  70  StoveKnob       -0.328         0.881          -2.187         45             0              0
  71  Cabinet         -0.727         2.015          -2.460         0              0              0
  72  Drawer          -1.560         0.655          -0.196         0              90             0
  73  Cabinet         -1.685         2.015          -2.461         0              0              0
  74  Cabinet         0.680          0.494          -2.200         0              0              0
  75  Cabinet         -1.179         0.494          -2.200         0              0              0
  76  Cabinet         -1.849         2.015          0.379          0              90             0
  77  Drawer          0.949          0.221          -2.200         0              0              0
  78  StoveKnob       -0.183         0.881          -2.187         45             0              0
  79  Cabinet         0.719          2.015          -2.460         0              0              0
  80  Drawer          -1.560         0.331          -0.196         0              90             0
  81  Cabinet         0.680          2.015          -2.460         0              0              0
  82  CounterTop      -1.868         0.946          -1.205         0              0              0
  83  Microwave       -0.236         1.689          -2.525         0              0              0
  84  Shelf           1.751          0.880          -2.560         0              0              0
  85  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  86  Toaster         -1.835         0.900          0.134          0              90             0
  87  Shelf           1.750          0.552          -2.559         0              0              0
  88  GarbageCan      -1.935         -0.002         2.029          0              270            0
  89  Shelf           1.750          0.172          -2.559         0              0              0
  90  Fridge          -2.096         0.0            1.088          0              0              0
  91  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  92  SinkBasin       -1.908         0.759          -1.488         0              90             0
  93  LightSwitch     2.329          1.309          -0.159         0              270            0
  94  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  95  Stool           0.702          0.000          -0.514         1.202          65.108         0
  96  Stool           0.743          0.000          0.563          1.227          106.706        0
  97  Faucet          -2.070         1.132          -1.514         0              0              0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Turn left and go forward toward the counter, then turn right to face the sink. | STEP 2: Pick up the glass from the sink. | STEP 3: Turn around and move forward, turn right at the oven, then look up at the microwave. | STEP 4: Open the microwave, put the glass inside, heat it up, then take it out. | STEP 5: Go to the upper cabinet directly to your right. | STEP 6: Open the cabinet, put the glass inside, then close the cabinet. | END