Task: To move two glasses from the cabinet above the wine bottle to the second shelf from the bottom of the shelves.

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          1.25           0              180            0
   1  Statue          -0.335         1.110          0.251          0              0              0              62
   2  Potato          -2.080         0.570          1.251          0              90             0              95
   3  Potato          0.453          0.941          -2.484         0              0              0              64
   4  CreditCard      0.355          1.108          0.504          0              0              0              101
   5  Plate           -0.059         1.108          -0.253         0              0              0              62
   6  Cup             -0.335         1.109          -0.506         0              0              0              62
   7  Cup             0.505          1.657          -2.525         0              0              0              86
   8  Cup             0.505          1.657          -2.632         0              0              0              86
   9  Egg             -0.070         1.825          -2.610         0              0              0              88
  10  Egg             -1.999         1.538          1.343          0              90             0              95
  11  SoapBottle      -1.962         0.048          1.933          0              270            0              93
  12  Bread           -0.059         1.184          -0.506         0              0              0              62
  13  Lettuce         -0.473         1.191          -0.506         0              0              0              62
  14  Apple           -2.162         0.849          1.168          0              90             0              95
  15  Knife           -0.995         0.936          -2.483         0              0              0              87
  16  Spoon           -1.290         0.912          -2.329         0              0              0              87
  17  Mug             -1.731         0.956          -0.168         0              90             0              96
  18  Mug             -2.038         0.535          0.920          0              90             0              95
  19  Spatula         -1.586         0.926          -2.056         0              90             0              87
  20  Pot             -0.036         0.950          -2.372         0              270            0              57
  21  ButterKnife     -0.848         0.911          -2.253         0              0              0              87
  22  ButterKnife     -1.852         0.769          -1.587         0              90             0              97
  23  Glassbottle     1.478          0.553          -2.614         0              180            0              92
  24  WineBottle      0.453          0.911          -2.253         0              0              0              64
  25  WineBottle      -0.197         1.112          0.757          0              0              0              62
  26  Bowl            -1.346         1.654          -2.604         0              0              0              78
  27  Book            0.155          1.1            0.617          0              315            0              62
  28  Glassbottle     -1.852         0.770          -1.328         0              90             0              97
  29  Knife           -1.693         0.936          -2.366         0              0              0              87
  30  Bread           -0.473         1.184          0.757          0              0              0              62
  31  Fork            0.324          0.911          -2.330         0              90             0              64
  32  Potato          -2.114         1.339          1.008          0              90             0              95
  33  SoapBottle      1.098          0.911          -2.330         0              0              0              64
  34  Kettle          -0.465         0.950          -2.576         0              90             0              71
  35  Pan             0.721          0.9            -2.415         0              0              0              64
  36  Plate           0.217          1.108          -0.759         0              0              0              62
  37  Tomato          -2.018         0.808          -1.501         0              90             0              97
  38  Vase            2.042          0.540          -2.495         0              0              0              92
  39  Egg             -0.335         1.146          -0.253         0              0              0              62
  40  CreditCard      1.065          0.478          -2.478         0              0              0              70
  41  Statue          1.955          0.168          -2.543         0              0              0              94
  42  WineBottle      1.789          0.881          -2.536         0              180            0              89
  43  Pot             -0.059         1.115          -0.001         0              0              0              62
  44  Spatula         -1.739         0.809          0.287          0              270            0              59
  45  PaperTowelRoll  1.893          0.657          -2.666         0              180            0              92
  46  Cup             -1.797         0.767          -1.673         0              90             0              97
  47  Vase            -1.774         0.909          -2.256         0              0              0              87
  48  Bowl            -0.335         1.108          -0.001         0              0              0              62
  49  SaltShaker      1.482          0.877          -2.563         0              180            0              89
  50  PepperShaker    0.217          1.107          -0.506         0              0              0              62
  51  Lettuce         0.217          1.191          -0.001         0              0              0              62
  52  ButterKnife     -0.197         1.111          -0.759         0              0              0              62
  53  Apple           -1.935         0.098          2.124          0              270            0              93
  54  DishSponge      -1.655         0.135          -1.506         0              90             0              63
  55  Spoon           0.892          0.143          -2.431         0              0              0              82
  56  Mug             0.506          0.135          -2.387         0              0              0              64
  57  StoveBurner     -0.036         0.915          -2.372         0              0              0
  58  Drawer          0.949          0.832          -2.197         0              0              0
  59  Drawer          -1.560         0.839          0.204          0              90             0
  60  StoveBurner     -0.465         0.915          -2.371         0              180            0
  61  Drawer          -1.560         0.839          -0.197         0              90             0
  62  CounterTop      -0.079         1.147          -0.001         0              0              0
  63  Cabinet         -1.549         0.494          -1.964         0              90             0
  64  CounterTop      0.693          0.946          -2.483         0              0              0
  65  StoveBurner     -0.036         0.915          -2.576         0              0              0
  66  Drawer          0.949          0.393          -2.200         0              0              0
  67  Drawer          0.949          0.708          -2.200         0              0              0
  68  Cabinet         -1.549         0.494          0.379          0              90             0
  69  StoveKnob       -0.022         0.881          -2.187         45             0              0
  70  Drawer          0.949          0.560          -2.201         0              0              0
  71  StoveBurner     -0.465         0.915          -2.575         0              180            0
  72  Window          -2.230         1.429          -1.203         0              0              0
  73  StoveKnob       -0.483         0.881          -2.187         45             0              0
  74  Sink            -1.899         0.964          -1.5           0              90             0
  75  StoveKnob       -0.328         0.881          -2.187         45             0              0
  76  Cabinet         -0.727         2.015          -2.460         0              0              0
  77  Drawer          -1.560         0.655          -0.196         0              90             0
  78  Cabinet         -1.685         2.015          -2.461         0              0              0
  79  Cabinet         0.680          0.494          -2.200         0              0              0
  80  Cabinet         -1.179         0.494          -2.200         0              0              0
  81  Cabinet         -1.849         2.015          0.379          0              90             0
  82  Drawer          0.949          0.221          -2.200         0              0              0
  83  StoveKnob       -0.183         0.881          -2.187         45             0              0
  84  Cabinet         0.719          2.015          -2.460         0              0              0
  85  Drawer          -1.560         0.331          -0.196         0              90             0
  86  Cabinet         0.680          2.015          -2.460         0              0              0
  87  CounterTop      -1.868         0.946          -1.205         0              0              0
  88  Microwave       -0.236         1.689          -2.525         0              0              0
  89  Shelf           1.751          0.880          -2.560         0              0              0
  90  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  91  Toaster         -1.835         0.900          0.134          0              90             0
  92  Shelf           1.750          0.552          -2.559         0              0              0
  93  GarbageCan      -1.935         -0.002         2.029          0              270            0
  94  Shelf           1.750          0.172          -2.559         0              0              0
  95  Fridge          -2.096         0.0            1.088          0              0              0
  96  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  97  SinkBasin       -1.908         0.759          -1.488         0              90             0
  98  LightSwitch     2.329          1.309          -0.159         0              270            0
  99  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 100  Stool           0.702          0.000          -0.514         1.202          65.108         0
 101  Stool           0.743          0.000          0.563          1.227          106.706        0
 102  Faucet          -2.070         1.132          -1.514         0              0              0
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: Turn left and walk forward, then turn right and walk across the room and look up to face the cabinet above the wine bottle. | STEP 2: Pick up the glass in the cabinet above the wine bottle. | STEP 3: Step to the left to face the shelves. | STEP 4: Place the glass on the second shelf from the bottom on the right side. | STEP 5: Step to the right and face the cabinet above the wine bottle. | STEP 6: Pick up the glass in the cabinet above the wine bottle. | STEP 7: Step to the left to face the shelves. | STEP 8: Place the glass on the second shelf from the bottom next to the first glass. | END