Task: Heat the glass and put it away in the cupboard.

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          -0.25          0              0              0
   1  Potato          -0.860         0.598          -0.110         0              90             0              70
   2  Spoon           -1.043         0.939          0.921          0              0              0              63
   3  Spoon           -0.689         0.747          2.449          0              270            0              39
   4  Pot             -1.109         0.930          1.470          0              0              0              40
   5  Egg             1.550          0.979          1.798          0              180            0              65
   6  Egg             1.587          1.631          1.598          0              270            0              77
   7  Cup             1.669          0.936          0.806          0              0              0              43
   8  Cup             -1.001         1.499          2.583          0              180            0              60
   9  Cup             1.346          0.099          -0.131         0              0              0              48
  10  Plate           1.666          1.508          0.965          0              0              0              45
  11  Knife           -0.960         0.959          1.154          0              0              0              63
  12  Bowl            1.430          0.078          2.532          0              0              0              47
  13  Bowl            -1.037         1.946          1.877          0              0              0              53
  14  SaltShaker      -1.043         0.934          0.765          0              0              0              63
  15  PepperShaker    -1.209         0.934          0.998          0              0              0              63
  16  PepperShaker    -0.712         0.934          2.462          0              0              0              39
  17  Lettuce         1.460          1.014          1.677          5.162          59.535         356.178        65
  18  SoapBottle      1.439          0.937          1.074          0              0              0              43
  19  Bread           -0.923         0.990          2.265          0              302.470        0              38
  20  Fork            -0.689         0.747          0.847          0              270            0              61
  21  Tomato          -1.209         0.999          0.765          0              0              0              63
  22  Bowl            1.352          0.078          0.848          0              0              0              64
  23  Pot             -1.109         0.930          1.865          0              0              0              62
  24  Spatula         1.344          0.761          2.527          0              270            0              41
  25  Knife           -0.896         0.768          1.050          0              270            0              61
  26  SaltShaker      -0.758         0.743          0.982          0              180            0              61
  27  Apple           1.684          1.645          1.598          0              270            0              77
  28  PepperShaker    1.448          0.742          2.323          0              0              0              41
  29  ButterKnife     -1.126         0.937          0.687          0              0              0              63
  30  Potato          -1.065         1.351          0.195          0              90             0              70
  31  Plate           -0.804         0.086          2.385          0              0              0              59
  32  DishSponge      1.669          0.937          1.007          0              0              0              43
  33  Egg             1.456          0.105          2.847          0              0              0              76
  34  Cup             -1.127         0.936          2.386          0              0              0              38
  35  Pan             1.378          1.737          0.392          0              270            0              46
  36  Spoon           1.414          0.747          0.984          0              0              0              68
  37  Mug             1.528          1.002          2.345          0              270            0              43
  38  CounterTop      -0.973         0.973          2.386          0              0              0
  39  Drawer          -0.783         0.774          2.381          0              180            0
  40  StoveBurner     -1.108         0.922          1.470          0              0              0
  41  Drawer          1.370          0.774          2.391          0              0              0
  42  Stool           -0.748         0.008          3.116          0              0              0
  43  CounterTop      1.504          0.973          2.309          0              0              0
  44  Cabinet         1.219          1.388          0.591          0              0              0
  45  Cabinet         1.500          2.113          1.164          0              0              0
  46  Cabinet         1.219          2.010          0.591          0              0              0
  47  Cabinet         1.219          0.388          2.105          0              0              0
  48  Cabinet         1.219          0.553          0.591          0              0              0
  49  Cabinet         -0.913         2.113          1.164          0              0              0
  50  Cabinet         -0.633         0.388          0.627          0              0              0
  51  Cabinet         -0.913         2.050          -0.329         0              0              0
  52  Cabinet         -0.913         2.113          0.583          0              0              0
  53  Cabinet         -0.913         2.113          2.082          0              0              0
  54  Cabinet         -0.913         2.113          1.207          0              0              0
  55  Cabinet         1.500          2.113          2.082          0              0              0
  56  Cabinet         1.500          2.113          1.207          0              0              0
  57  Cabinet         1.500          1.810          2.691          0              0              0
  58  Cabinet         1.500          1.810          2.101          0              0              0
  59  Cabinet         -0.633         0.388          2.105          0              0              0
  60  Cabinet         -0.911         1.810          2.700          0              180            0
  61  Drawer          -0.783         0.774          0.915          0              180            0
  62  StoveBurner     -1.108         0.922          1.865          0              0              0
  63  CounterTop      -0.972         0.973          0.921          0              0              0
  64  Cabinet         1.219          0.388          0.631          0              0              0
  65  Sink            1.544          0.869          1.639          0              180            0
  66  StoveBurner     -0.832         0.922          1.865          0              0              0
  67  StoveBurner     -0.831         0.922          1.470          0              0              0
  68  Drawer          1.370          0.774          0.916          0              0              0
  69  Cabinet         -0.911         1.810          2.111          0              180            0
  70  Fridge          -1.001         0.0            0.119          0              0              0
  71  StoveKnob       -0.648         0.926          1.923          0              270            0
  72  StoveKnob       -0.648         0.926          1.363          0              270            0
  73  StoveKnob       -0.648         0.926          1.513          0              270            0
  74  StoveKnob       -0.648         0.926          1.763          0              270            0
  75  Toaster         -1.002         0.926          2.561          0              90             0
  76  GarbageCan      1.451          -0.029         2.912          0              0              0
  77  Microwave       1.632          1.480          1.645          0              270            0
  78  Window          0.224          1.601          3.509          90             0              0
  79  CoffeeMachine   1.692          0.926          2.453          0              270            0
  80  SinkBasin       1.461          0.833          1.369          0              180            0
  81  LightSwitch     0.451          1.412          -1.674         0              0              0
  82  Faucet          1.707          0.925          1.363          0              270            0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Walk to the sink. | STEP 2: Pick up the glass on the left side of the sink. | STEP 3: Look up at the microwave. | STEP 4: Open the microwave, heat the glass and then take the glass out. | STEP 5: Turn around and go back to the sink. | STEP 6: Put the glass away in the cupboard above the microwave. | END