Task: Place a glass in a 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           0.901          3.25           0              180            0
   1  Potato          -0.244         1.044          0.267          0              0              0              71
   2  Potato          -2.722         1.212          4.204          0              90             0              69
   3  ButterKnife     -2.377         0.662          0.464          0              0              0              60
   4  Spoon           -2.628         0.936          3.488          0              90             0              59
   5  Fork            -2.686         0.901          2.309          0              90             0              73
   6  Egg             -2.686         0.933          2.177          0              0              0              73
   7  Egg             -2.303         0.961          0.433          0              0              0              52
   8  Cup             -1.266         0.795          0.281          0              0              0              70
   9  Cup             -0.228         0.900          2.932          0              0              0              75
  10  Cup             -2.136         1.773          0.205          0              0              0              48
  11  Knife           -2.480         0.926          2.573          0              0              0              73
  12  Tomato          -2.943         0.999          3.209          0              0              0              59
  13  Tomato          -2.722         0.696          4.427          0              90             0              69
  14  Bowl            -0.359         1.770          0.114          0              0              0              51
  15  PepperShaker    -2.628         0.931          3.673          0              0              0              59
  16  Lettuce         -2.377         0.980          2.441          0              0              0              73
  17  Lettuce         -0.314         0.980          2.530          0              180            0              75
  18  Mug             -1.007         0.790          0.226          0              0              0              70
  19  Apple           -0.191         1.079          0.171          0              0              0              71
  20  Egg             -2.549         0.968          3.766          0              0              0              59
  21  Plate           -1.746         1.777          0.205          0              0              0              47
  22  Fork            -0.572         0.901          2.329          0              0              0              75
  23  Bread           -2.892         0.957          2.441          0              0              0              73
  24  Apple           -2.691         0.355          4.352          0              90             0              69
  25  Lettuce         -0.314         0.980          2.731          0              180            0              75
  26  Spatula         -0.835         0.812          0.392          0              270            0              70
  27  Knife           -2.485         0.688          0.409          0              90             0              60
  28  Potato          -0.143         0.926          2.731          0              0              0              75
  29  Tomato          -1.637         0.992          0.518          0              0              0              52
  30  Cup             -0.350         1.018          0.203          0              0              0              71
  31  SaltShaker      -2.583         0.896          1.913          0              0              0              73
  32  PepperShaker    -0.572         0.896          2.530          0              0              0              75
  33  ButterKnife     -0.572         0.900          3.334          0              0              0              75
  34  SoapBottle      -0.228         0.900          3.133          0              0              0              75
  35  Pan             -1.904         0.927          0.433          0              90             0              52
  36  DishSponge      -1.932         0.661          0.300          0              0              0              55
  37  Pot             -0.535         0.928          4.274          0              0              0              56
  38  Spoon           -2.377         0.663          0.519          0              0              0              60
  39  Mug             -1.007         0.790          0.392          0              0              0              70
  40  Bowl            -0.692         1.770          0.297          0              90             0              50
  41  Drawer          -0.325         0.696          0.413          0              0              0
  42  Cabinet         -0.595         0.490          0.648          0              0              0
  43  Cabinet         -0.555         0.490          0.646          0              0              0
  44  Cabinet         -1.591         0.490          0.646          0              0              0
  45  Cabinet         -1.554         0.490          0.646          0              0              0
  46  Cabinet         -2.550         0.490          0.646          0              0              0
  47  Cabinet         -1.514         2.046          0.392          0              0              0
  48  Cabinet         -2.474         2.046          0.392          0              0              0
  49  Cabinet         -1.478         2.046          0.392          0              0              0
  50  Cabinet         -0.518         2.046          0.392          0              0              0
  51  Cabinet         -0.479         2.046          0.392          0              0              0
  52  CounterTop      -1.366         0.952          0.349          0              0              0
  53  Sink            -1.108         0.926          0.340          0              0              0
  54  StoveBurner     -0.254         0.922          4.672          0              0              0
  55  Drawer          -1.824         0.696          0.413          0              0              0
  56  StoveBurner     -0.535         0.922          4.274          0              0              0
  57  StoveBurner     -0.254         0.922          4.274          0              0              0
  58  StoveBurner     -0.536         0.922          4.672          0              0              0
  59  CounterTop      -2.780         0.971          3.487          0              0              0
  60  Drawer          -2.323         0.696          0.413          0              0              0
  61  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  65  Toaster         -0.286         0.861          3.520          0              270            0
  66  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  67  LightSwitch     -0.064         1.447          1.996          0              270            0
  68  Window          -3.075         1.593          1.361          90             90             0
  69  Fridge          -2.802         0.0            4.427          0              0              0
  70  SinkBasin       -1.106         0.785          0.337          0              0              0
  71  Microwave       -0.358         0.917          0.224          0              0              0
  72  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  73  DiningTable     -2.733         -0.003         2.607          0              270            0
  74  Faucet          -1.077         0.920          0.028          270            270            0
  75  DiningTable     -0.488         -0.003         3.182          0              270            0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Walk ahead and veer right to the right end of the counter. | STEP 2: Look up and take the gold glass out of the top right cabinet. | STEP 3: Turn around and walk to the fridge on the left. | STEP 4: Place the glass on the top shelf of the fridge, to the right of the tomato. Close the door, wait a moment, and take it out again. | STEP 5: Turn left and veer all the way left to the microwave. | STEP 6: Place the glass in the bottom shelf of the top left cabinet above the microwave. | END