Task: Heat a glass and put it 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           -0.25          0.900          1.0            0              270            0
   1  Pan             -1.431         0.949          -1.81          0              0              0              81
   2  Potato          1.441          1.301          0.083          0              270            0              93
   3  Kettle          -2.201         0.911          0.463          0              0              0              73
   4  ButterKnife     -1.886         0.910          -1.448         0              0              0              69
   5  Glassbottle     -2.041         0.112          -1.535         0              0              0              74
   6  Glassbottle     -0.342         0.117          -1.489         0              0              0              57
   7  Spatula         0.664          0.926          -1.619         0              90             0              71
   8  Spatula         0.969          0.788          0.323          0              90             0              48
   9  Egg             1.381          0.243          1.166          0              0              0              88
  10  Plate           1.401          1.656          -0.500         0              0              0              59
  11  SoapBottle      1.265          0.117          0.372          0              270            0              54
  12  Bowl            -1.809         0.911          -1.707         0              0              0              69
  13  Bowl            -0.996         1.851          -1.839         0              0              0              51
  14  PepperShaker    -0.401         0.906          -1.534         0              0              0              71
  15  PepperShaker    -1.835         0.905          0.032          0              90             0              73
  16  SaltShaker      -0.751         0.106          -1.487         0              0              0              58
  17  SaltShaker      -0.703         0.906          -1.448         0              0              0              71
  18  Bread           1.376          1.445          2.101          0              270            0              90
  19  Mug             1.375          1.362          1.851          0              270            0              90
  20  Apple           1.494          1.196          -1.002         0              0              0              77
  21  Apple           0.251          0.954          -1.758         0              270            0              50
  22  Tomato          1.325          1.407          2.351          0              270            0              90
  23  Glassbottle     -1.962         0.911          -1.534         0              0              0              69
  24  Knife           -1.886         0.940          -1.793         0              0              0              69
  25  Plate           -2.323         0.911          0.204          0              0              0              73
  26  Fork            0.320          0.920          -1.708         0              90             0              50
  27  Ladle           1.342          1.700          -1.500         0              0              0              63
  28  Potato          0.569          0.953          -1.789         0              0              0              71
  29  Lettuce         -0.477         0.980          -1.789         0              0              0              71
  30  Kettle          -1.081         0.949          -1.81          0              0              0              67
  31  Pen             1.015          0.775          -1.013         0              0              0              49
  32  SaltShaker      1.090          0.109          -0.736         0              0              0              55
  33  Cup             -1.809         0.910          -1.965         0              0              0              69
  34  Egg             1.344          1.294          0.083          0              270            0              93
  35  Spatula         -1.957         0.925          0.291          0              0              0              73
  36  Bowl            1.520          1.656          -1.264         0              0              0              63
  37  SprayBottle     -0.778         0.910          -1.960         0              0              0              53
  38  Pan             1.414          1.161          -1.688         0              0              0              63
  39  SoapBottle      -0.703         0.911          -1.704         0              180            0              71
  40  Pot             0.967          0.9            0.249          0              0              0              71
  41  ButterKnife     1.093          0.911          0.031          0              0              0              71
  42  PepperShaker    1.335          1.157          0.370          0              0              0              77
  43  DishSponge      0.710          0.116          -1.633         0              90             0              65
  44  Bread           1.414          1.240          -1.345         0              0              0              77
  45  Apple           0.149          0.954          -1.657         0              270            0              50
  46  Spoon           0.697          0.774          -1.566         0              90             0              75
  47  Mug             1.426          1.362          2.476          0              270            0              90
  48  Drawer          0.860          0.75           0.430          0              0              0
  49  Drawer          0.871          0.75           -1.134         0              0              0
  50  Sink            0.156          0.817          -1.801         0              270            0
  51  Cabinet         -0.868         2.005          -1.690         0              0              0
  52  Cabinet         -1.661         2.059          -1.684         0              90             0
  53  Cabinet         -0.817         2.059          -1.689         0              0              0
  54  Cabinet         0.860          0.402          0.665          0              0              0
  55  Cabinet         0.860          0.402          -0.552         0              0              0
  56  Cabinet         0.860          0.402          -1.365         0              0              0
  57  Cabinet         -0.244         0.402          -1.389         0              0              0
  58  Cabinet         -0.815         0.402          -1.389         0              0              0
  59  Cabinet         1.159          2.059          -0.334         0              0              0
  60  Cabinet         0.488          2.059          -1.689         0              0              0
  61  Cabinet         -0.193         2.059          -1.689         0              0              0
  62  Drawer          0.860          0.75           -0.699         0              0              0
  63  Cabinet         1.159          2.059          -1.019         0              0              0
  64  Cabinet         -1.611         2.005          -1.690         0              0              0
  65  Cabinet         0.832          0.401          -1.393         0              90             0
  66  Drawer          -2.105         0.75           -1.389         0              0              0
  67  StoveBurner     -1.081         0.941          -1.809         0              0              0
  68  Cabinet         -0.202         0.401          -1.391         0              90             0
  69  CounterTop      -1.973         0.945          -1.707         0              0              0
  70  Drawer          -0.375         0.75           -1.389         0              0              0
  71  CounterTop      1.164          0.946          -0.649         0              0              0
  72  StoveBurner     -1.081         0.941          -1.527         0              0              0
  73  CounterTop      -2.096         0.945          0.291          0              0              0
  74  Cabinet         -2.237         0.402          -1.389         0              0              0
  75  Drawer          0.584          0.75           -1.389         0              0              0
  76  Drawer          -1.795         0.75           -1.389         0              0              0
  77  CounterTop      1.5            1.197          -0.654         0              0              0
  78  Cabinet         -1.667         0.402          -1.389         0              0              0
  79  StoveBurner     -1.430         0.941          -1.525         0              0              0
  80  Drawer          -0.685         0.75           -1.389         0              0              0
  81  StoveBurner     -1.430         0.941          -1.809         0              0              0
  82  LightSwitch     -2.539         1.289          2.568          0              90             0
  83  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  84  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  85  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  86  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  87  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  88  GarbageCan      1.343          0.015          1.041          0              0              0
  89  HousePlant      1.440          1.153          0.593          0              0              0
  90  Fridge          1.417          0.0            2.101          0              0              0
  91  Window          -0.486         1.452          3.302          90             0              0
  92  SinkBasin       -0.063         0.765          -1.713         0              270            0
  93  Microwave       1.422          1.150          0.022          0              270            0
  94  Toaster         -2.066         0.900          -1.848         0              0              0
  95  Stool           -1.994         0.010          0.882          0              0              0
  96  Faucet          -0.096         1.041          -1.867         0              270            0
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: Turn to the left and go back to the counter. Turn right to go around the far side and face the toaster. | STEP 2: Pick up the glass from behind the toaster. | STEP 3: Hold the glass and turn right around the counter and go across the room to find the microwave. | STEP 4: Put the glass in the microwave and turn in on. Take the glass out of the microwave. | STEP 5: Carry the glass and turn right, to face the sink. | STEP 6: Open the bottom cabinet in the corner, and put the glass inside. Shut the door. | END