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           -0.75          0.900          1.0            0              180            0
   1  Ladle           -0.415         1.087          2.144          0              0              0              51
   2  DishSponge      -2.403         0.486          0.613          0              0              0              64
   3  ButterKnife     -0.785         1.048          1.920          0              0              0              51
   4  ButterKnife     -2.137         1.124          0.662          0              0              0              61
   5  Pot             -0.827         1.129          0.206          0              0              0              73
   6  Fork            -0.827         1.125          0.478          0              0              0              63
   7  Spoon           -0.662         1.049          2.593          0              90             0              51
   8  Spoon           -1.473         1.154          0.121          0              0              0              48
   9  Spatula         -0.908         1.063          1.920          0              270            0              51
  10  Egg             -1.885         1.155          0.567          0              0              0              61
  11  Cup             -1.111         0.929          0.636          0              0              0              73
  12  Cup             -3.266         0.726          2.849          0              90             0              68
  13  Plate           -0.538         1.046          2.593          0              0              0              51
  14  SoapBottle      -2.388         1.125          0.379          0              0              0              61
  15  SoapBottle      -1.483         0.049          0.608          0              0              0              66
  16  Tomato          -3.506         1.327          2.920          0              90             0              68
  17  Tomato          -2.262         1.165          0.473          0              0              0              61
  18  Bowl            -0.908         1.045          2.144          0              0              0              51
  19  SaltShaker      -0.662         1.044          2.144          0              0              0              51
  20  PepperShaker    -1.195         0.045          0.437          0              0              0              55
  21  PepperShaker    -2.089         0.092          0.646          0              0              0              53
  22  Apple           -3.320         0.990          2.499          0              90             0              68
  23  Apple           -2.011         1.192          0.662          0              0              0              61
  24  Fork            -1.199         0.932          0.359          0              0              0              73
  25  SoapBottle      -1.483         0.049          0.438          0              0              0              66
  26  Pot             -3.475         1.133          0.227          0              90             0              47
  27  Ladle           -2.514         1.164          0.473          0              0              0              61
  28  Potato          -3.373         1.317          3.132          0              90             0              68
  29  Plate           -0.785         1.045          2.593          0              0              0              51
  30  Bread           -0.292         1.133          2.369          0              0              0              51
  31  Lettuce         -3.506         1.637          2.920          0              90             0              68
  32  Spatula         -0.785         1.063          3.266          0              0              0              51
  33  Pan             -0.785         1.047          2.817          0              180            0              51
  34  Egg             -1.568         1.184          0.108          0              0              0              48
  35  Cup             -3.44          1.284          2.778          0              90             0              68
  36  SaltShaker      -1.076         0.045          0.324          0              0              0              55
  37  Knife           -0.785         1.080          2.144          0              90             0              51
  38  Bowl            -2.514         1.122          0.190          0              0              0              61
  39  PepperShaker    -1.076         0.045          0.608          0              0              0              55
  40  ButterKnife     -1.288         0.931          0.567          0              0              0              73
  41  Apple           -1.553         0.998          0.636          0              0              0              73
  42  Tomato          -3.307         1.601          2.991          0              90             0              68
  43  DishSponge      -3.696         0.112          2.038          0              0              0              72
  44  Spoon           -0.785         1.049          2.369          0              0              0              51
  45  Mug             -1.885         1.119          0.473          0              270            0              61
  46  StoveKnob       -3.322         1.053          0.709          45             0              0
  47  StoveBurner     -3.474         1.097          0.227          0              180            0
  48  Sink            -1.394         0.982          0.439          0              0              0
  49  StoveBurner     -3.474         1.097          0.479          0              180            0
  50  StoveKnob       -3.164         1.053          0.709          45             0              0
  51  DiningTable     -0.620         0.017          2.486          0              0              0
  52  Drawer          -2.043         0.608          0.594          0              0              0
  53  Drawer          -2.043         0.216          0.594          0              0              0
  54  Drawer          -2.498         0.216          0.594          0              0              0
  55  Cabinet         -1.001         0.393          0.734          0              0              0
  56  StoveBurner     -3.000         1.097          0.480          0              0              0
  57  StoveKnob       -3.492         1.053          0.709          45             0              0
  58  CounterTop      -3.856         1.160          0.379          0              0              0
  59  Drawer          -2.043         0.937          0.599          0              0              0
  60  Drawer          -2.509         0.937          0.599          0              0              0
  61  CounterTop      -2.280         1.160          0.379          0              0              0
  62  StoveKnob       -2.985         1.053          0.709          45             0              0
  63  CounterTop      -0.514         1.160          0.492          0              0              0
  64  Drawer          -2.498         0.608          0.594          0              0              0
  65  StoveBurner     -3.000         1.097          0.227          0              0              0
  66  Cabinet         -1.733         0.393          0.734          0              0              0
  67  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  68  Fridge          -3.519         0.0            2.717          0              90             0
  69  Window          -1.394         1.924          0.014          90             0              0
  70  Window          -3.266         1.924          0.014          90             0              0
  71  Toaster         -0.225         1.038          2.865          0              270            0
  72  GarbageCan      -3.696         0.002          2.008          0              0              0
  73  SinkBasin       -1.389         0.921          0.428          0              0              0
  74  Microwave       -0.366         1.113          0.430          0              0              0
  75  HousePlant      -2.155         1.101          0.169          0              332.897        0
  76  LightSwitch     -2.584         1.299          3.5            0              180            0
  77  Faucet          -1.393         1.373          0.168          0              270            0
  78  NorthWall
  79  SouthWall
  80  SouthWall

Plan:
STEP 1: walk over to face the fridge | STEP 2: open the fridge doors, pick up the glass on the top right shelf, close the fridge doors | STEP 3: walk to face the left side of the sink | STEP 4: put the glass on the counter to the left side of the sink | STEP 5: turn slightly to the right to face sink | STEP 6: pick up the glass in the sink basin | STEP 7: turn slightly left to face the counter to the left of the sink | STEP 8: put the glass on the counter to the left of the sink on the left side of the other glass  | END