Task: put two glasses on a counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          1.0            0              0              0
   1  Potato          -0.168         1.077          1.920          0              0              0              52
   2  Potato          -3.44          0.942          3.203          0              90             0              69
   3  Ladle           -1.199         0.970          0.359          0              0              0              74
   4  DishSponge      -0.659         1.124          0.659          0              0              0              64
   5  ButterKnife     -2.388         1.124          0.190          0              0              0              62
   6  Fork            -0.538         1.048          2.817          0              0              0              52
   7  Spatula         -2.137         1.139          0.662          0              0              0              62
   8  Egg             -1.288         0.961          0.221          0              0              0              74
   9  Egg             -1.663         1.184          0.095          0              0              0              49
  10  Cup             -3.44          1.284          2.849          0              90             0              69
  11  Cup             -1.288         0.929          0.567          0              0              0              74
  12  Cup             -1.568         1.151          0.095          0              0              0              49
  13  Plate           -1.601         0.047          0.381          0              0              0              67
  14  Plate           -0.908         1.045          2.593          0              0              0              52
  15  Knife           -0.715         1.157          0.569          0              0              0              64
  16  Knife           -0.662         1.079          1.920          0              0              0              52
  17  Tomato          -0.538         1.087          2.369          0              0              0              52
  18  Tomato          -0.908         1.087          2.144          0              0              0              52
  19  Bowl            -3.506         1.558          2.849          0              90             0              69
  20  Bowl            -2.639         1.122          0.473          0              0              0              62
  21  PepperShaker    -2.370         0.898          0.612          0              0              0              61
  22  PepperShaker    -2.089         0.483          0.512          0              0              0              53
  23  Bread           -0.785         1.133          3.266          0              0              0              52
  24  Apple           -0.785         1.115          1.920          0              0              0              52
  25  Fork            -1.288         0.932          0.359          0              90             0              74
  26  SoapBottle      -3.814         1.125          0.662          0              0              0              59
  27  Pot             -3.475         1.133          0.227          0              90             0              48
  28  Ladle           -3.778         1.164          0.190          0              90             0              59
  29  Potato          -0.309         1.243          0.377          0              0              0              75
  30  Plate           -0.415         1.045          2.144          0              0              0              52
  31  Bread           -0.662         1.134          3.042          0              0              0              52
  32  Lettuce         -2.011         1.202          0.473          0              0              0              62
  33  Spatula         -0.538         1.063          2.144          0              0              0              52
  34  Pan             -0.266         1.038          2.561          0              0              0              52
  35  Egg             -1.553         0.961          0.428          0              0              0              74
  36  Cup             -1.522         0.047          0.551          0              0              0              67
  37  SaltShaker      -1.995         0.484          0.545          0              0              0              53
  38  Knife           -0.662         1.080          2.369          0              0              0              52
  39  Bowl            -1.195         0.047          0.381          0              0              0              56
  40  PepperShaker    -0.827         1.121          0.659          0              0              0              64
  41  ButterKnife     -1.465         0.931          0.498          0              0              0              74
  42  Apple           -0.785         1.114          2.817          0              0              0              52
  43  Tomato          -0.908         1.088          3.042          0              0              0              52
  44  DishSponge      -3.593         0.112          1.978          0              0              0              73
  45  Spoon           -0.168         1.048          2.144          0              0              0              52
  46  Mug             -0.203         1.223          0.410          0              0              0              75
  47  StoveKnob       -3.322         1.053          0.709          45             0              0
  48  StoveBurner     -3.474         1.097          0.227          0              180            0
  49  Sink            -1.394         0.982          0.439          0              0              0
  50  StoveBurner     -3.474         1.097          0.479          0              180            0
  51  StoveKnob       -3.164         1.053          0.709          45             0              0
  52  DiningTable     -0.620         0.017          2.486          0              0              0
  53  Drawer          -2.043         0.608          0.594          0              0              0
  54  Drawer          -2.043         0.216          0.594          0              0              0
  55  Drawer          -2.498         0.216          0.594          0              0              0
  56  Cabinet         -1.001         0.393          0.734          0              0              0
  57  StoveBurner     -3.000         1.097          0.480          0              0              0
  58  StoveKnob       -3.492         1.053          0.709          45             0              0
  59  CounterTop      -3.856         1.160          0.379          0              0              0
  60  Drawer          -2.043         0.937          0.599          0              0              0
  61  Drawer          -2.509         0.937          0.599          0              0              0
  62  CounterTop      -2.280         1.160          0.379          0              0              0
  63  StoveKnob       -2.985         1.053          0.709          45             0              0
  64  CounterTop      -0.514         1.160          0.492          0              0              0
  65  Drawer          -2.498         0.608          0.594          0              0              0
  66  StoveBurner     -3.000         1.097          0.227          0              0              0
  67  Cabinet         -1.733         0.393          0.734          0              0              0
  68  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  69  Fridge          -3.519         0.0            2.717          0              90             0
  70  Window          -1.394         1.924          0.014          90             0              0
  71  Window          -3.266         1.924          0.014          90             0              0
  72  Toaster         -0.225         1.038          2.865          0              270            0
  73  GarbageCan      -3.696         0.002          2.008          0              0              0
  74  SinkBasin       -1.389         0.921          0.428          0              0              0
  75  Microwave       -0.366         1.113          0.430          0              0              0
  76  HousePlant      -2.155         1.101          0.169          0              332.897        0
  77  LightSwitch     -2.584         1.299          3.5            0              180            0
  78  Faucet          -1.393         1.373          0.168          0              270            0
  79  NorthWall
  80  SouthWall
  81  SouthWall

Plan:
STEP 1: turn to face the kitchen sink | STEP 2: pick up the glass next to the faucet on the sink edge | STEP 3: walk slightly right to face the counter to the right of the sink | STEP 4: put the glass on the counter to the right of the sink | STEP 5: walk left to face the cabinet below the sink | STEP 6: open the right cabinet door below the sink, pick up the glass inside the cabinet, close the door | STEP 7: walk slightly right to face the counter to the right of the sink | STEP 8: put the glass on the counter to the right of the sink above the other glass  | END