Task: take black glass, heat in microwave, and put on black shelves in kitchen

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.900          -2.25          0              90             0
   1  DishSponge      -2.387         0.099          -3.571         0              0              0              67
   2  ButterKnife     -2.560         0.894          -0.462         0              0              0              79
   3  ButterKnife     -3.565         0.894          -0.462         0              270            0              79
   4  Fork            -0.315         0.941          -1.319         0              0              0              60
   5  Fork            -0.152         0.942          -2.927         0              45             0              42
   6  Spatula         -0.373         0.957          -2.941         0              135            0              42
   7  Cup             -3.460         0.760          -3.048         0              199.125        0              78
   8  Plate           -3.822         0.774          -2.904         0              334.125        0              78
   9  Knife           -3.541         0.785          -3.626         0              64.125         0              78
  10  Knife           -0.406         0.777          -2.685         0              270            0              47
  11  Bowl            -0.164         1.937          -2.179         0              0              0              52
  12  Bowl            -0.417         1.284          -0.645         0              270            0              72
  13  Bread           -2.761         0.976          -0.376         0              270            0              79
  14  Lettuce         -3.230         0.851          -3.061         0              244.125        0              78
  15  Lettuce         -0.397         1.033          -2.788         0              0              0              42
  16  SaltShaker      -3.260         0.756          -3.354         0              244.125        0              78
  17  SaltShaker      -3.683         0.756          -3.497         0              109.125        0              78
  18  PepperShaker    -0.524         0.743          -1.413         0              0              0              46
  19  Mug             -1.184         0.076          -3.571         0              0              0              57
  20  Mug             -0.097         1.932          -0.949         0              0              0              50
  21  SoapBottle      -2.962         0.892          -0.376         0              270            0              79
  22  Pot             -0.437         0.961          -2.243         0              0              0              45
  23  Fork            -0.157         0.941          -1.319         0              0              0              60
  24  Cup             -0.368         1.504          -3.542         0              45             0              54
  25  Tomato          -2.761         0.945          -0.204         0              270            0              79
  26  Pan             -0.437         0.961          -1.845         0              180            0              43
  27  Plate           -1.694         0.956          -3.673         0              0              0              42
  28  Bread           -3.565         0.976          -0.290         0              270            0              79
  29  Spatula         -2.359         0.909          -0.376         0              0              0              79
  30  Knife           -3.203         0.785          -3.118         0              244.125        0              78
  31  SaltShaker      -3.642         0.756          -2.989         0              334.125        0              78
  32  PepperShaker    -3.786         0.756          -3.331         0              244.125        0              78
  33  ButterKnife     -3.364         0.894          -0.548         0              270            0              79
  34  Apple           -3.485         0.821          -3.599         0              334.125        0              78
  35  DishSponge      -1.112         0.941          -3.799         0              45             0              42
  36  Potato          -0.417         1.318          -0.762         0              270            0              72
  37  Egg             -3.451         0.801          -3.239         0              334.125        0              78
  38  Spoon           -0.440         0.753          -2.846         0              90             0              47
  39  Lettuce         -3.527         0.851          -2.861         0              199.125        0              78
  40  Mug             -0.321         1.483          -0.413         0              270            0              72
  41  Bowl            -0.334         1.284          -0.297         0              270            0              72
  42  CounterTop      -1.937         0.977          -3.673         0              0              0
  43  StoveBurner     -0.437         0.924          -1.845         0              180            0
  44  StoveBurner     -0.222         0.924          -1.845         0              180            0
  45  StoveBurner     -0.437         0.924          -2.243         0              0              0
  46  Drawer          -0.500         0.779          -1.450         0              0              0
  47  Drawer          -0.481         0.777          -2.739         0              0              0
  48  Drawer          -1.154         0.782          -3.499         0              0              0
  49  Cabinet         -0.337         2.110          -0.390         0              0              0
  50  Cabinet         -0.337         2.110          -1.272         0              0              0
  51  Cabinet         -0.337         2.110          -1.631         0              0              0
  52  Cabinet         -0.337         2.110          -2.497         0              0              0
  53  Cabinet         -0.337         1.891          -1.286         0              0              0
  54  Cabinet         -0.346         1.891          -3.293         0              0              0
  55  Cabinet         -0.629         0.388          -2.513         0              0              0
  56  Cabinet         -0.633         0.388          -3.008         0              0              0
  57  Cabinet         -1.010         0.388          -3.368         0              0              0
  58  Cabinet         -0.629         0.388          -1.614         0              0              0
  59  Cabinet         -0.327         1.886          -2.513         0              0              0
  60  CounterTop      -0.326         0.976          -1.450         0              0              0
  61  StoveBurner     -0.222         0.924          -2.243         0              0              0
  62  Sink            -0.600         0.929          -3.388         0              0              0
  63  StoveKnob       -0.617         0.899          -1.833         315            90             180
  64  StoveKnob       -0.617         0.899          -2.129         315            90             180
  65  StoveKnob       -0.617         0.899          -2.289         315            90             180
  66  StoveKnob       -0.617         0.899          -1.975         315            90             180
  67  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  68  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  69  Window          -1.389         1.610          -4.113         90             0              0
  70  LightSwitch     -4.372         1.493          -1.031         0              90             0
  71  SinkBasin       -0.614         0.802          -3.384         0              315            0
  72  Fridge          -0.314         0.0            -0.646         0              0              0
  73  Toaster         -1.970         0.930          -3.763         0              0              0
  74  Microwave       -0.216         1.470          -2.054         0              270            0
  75  Blinds          -1.373         2.205          -3.961         0              0              0
  76  Faucet          -0.393         0.930          -3.614         270            225            0
  77  SideTable       -4.030         0.002          -0.301         0              185.034        0
  78  DiningTable     -3.586         0.000          -3.258         0              0              0
  79  DiningTable     -3.224         -0.003         -0.453         0              0              0
  80  Shelf           -4.030         0.259          -0.301         0              185.034        0
  81  Shelf           -4.030         0.489          -0.301         0              185.034        0
  82  EastWall
  83  EastWall
  84  SouthWall

Plan:
STEP 1: turn right, walk and face black, round table | STEP 2: pick up black glass from on the table | STEP 3: turn right, walk to face stove and microwave above stove | STEP 4: open microwave door, put glass inside, close door, heat up glass, open door, pick up black glass again | STEP 5: turn left, walk in kitchen, turn right and face rectangular black shelves next to rectangular white table | STEP 6: put black glass on top of black shelves | END