Task: put a heated martini glass on to the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.75          0.900          -3.25          0              270            0
   1  Pencil          -2.666         0.923          -1.884         0              0              0              79
   2  Potato          -2.324         0.954          -2.115         0              0              0              79
   3  Potato          -2.210         0.954          -1.884         0              0              0              79
   4  DishSponge      -0.398         0.796          -2.008         0              270            0              72
   5  DishSponge      -0.205         1.970          -1.828         0              0              0              56
   6  WineBottle      -2.780         0.924          -1.423         0              0              0              79
   7  WineBottle      -2.210         0.924          -2.115         0              0              0              79
   8  Spatula         -2.666         0.938          -1.193         0              90             0              79
   9  Spoon           -0.222         0.904          -3.570         0              0              0              54
  10  Spoon           -2.438         0.924          -1.193         0              0              0              79
  11  Knife           -2.438         0.946          -1.423         0              0              0              79
  12  Cup             -0.460         0.080          -3.236         0              0              0              60
  13  Cup             -0.308         1.689          -0.665         0              270            0              71
  14  Cup             -2.780         0.922          -1.193         0              0              0              79
  15  SoapBottle      -2.780         0.922          -1.654         0              0              0              79
  16  Bowl            -0.295         1.389          -0.874         0              270            0              71
  17  Lettuce         -2.324         1.016          -1.423         0              0              0              79
  18  SaltShaker      -0.457         0.912          -3.839         0              0              0              54
  19  SaltShaker      -0.508         0.912          -3.368         0              0              0              54
  20  PepperShaker    -2.552         0.919          -2.115         0              0              0              79
  21  Mug             -2.666         0.918          -2.115         0              0              0              79
  22  Apple           -0.343         1.172          -0.665         0              270            0              71
  23  Apple           -1.943         0.100          -3.799         0              0              0              70
  24  Apple           -2.780         0.996          -2.345         0              0              0              79
  25  Lettuce         -0.392         1.483          -0.560         0              270            0              71
  26  Glassbottle     -2.096         0.924          -2.115         0              0              0              79
  27  Egg             -0.067         0.948          -2.301         0              0              0              54
  28  Pen             -2.210         0.926          -1.654         0              0              0              79
  29  Fork            -0.350         0.797          -1.934         0              0              0              72
  30  SoapBottle      -0.322         1.529          -3.610         0              45             0              62
  31  Pencil          -2.096         0.923          -1.884         0              0              0              79
  32  WineBottle      -0.716         0.083          -3.506         0              0              0              58
  33  Spatula         -0.600         0.930          -3.697         0              270            0              54
  34  Bread           -0.414         0.953          -3.625         0              0              0              54
  35  Tomato          -0.295         1.162          -0.455         0              270            0              71
  36  Pan             -0.343         1.098          -0.874         0              0              0              71
  37  Cup             -0.348         1.689          -0.874         0              270            0              71
  38  Pot             -1.129         0.935          -3.498         0              0              0              52
  39  SaltShaker      -0.690         0.743          -3.615         0              0              0              53
  40  Potato          -2.096         0.954          -1.423         0              0              0              79
  41  PepperShaker    -2.666         0.919          -1.423         0              0              0              79
  42  ButterKnife     -2.552         0.923          -0.963         0              0              0              79
  43  DishSponge      -2.552         0.923          -1.884         0              0              0              79
  44  Spoon           -2.666         0.924          -2.345         0              0              0              79
  45  Plate           -2.096         0.925          -0.963         0              0              0              79
  46  Knife           -2.438         0.946          -1.654         0              0              0              79
  47  Mug             -0.671         0.910          -3.555         0              0              0              54
  48  Bowl            -2.438         0.922          -0.963         0              0              0              79
  49  Cabinet         -0.582         0.388          -1.804         0              0              0
  50  StoveBurner     -1.515         0.928          -3.752         0              90             0
  51  StoveBurner     -1.515         0.928          -3.497         0              0              0
  52  StoveBurner     -1.129         0.928          -3.498         0              0              0
  53  Drawer          -0.749         0.779          -3.551         0              0              0
  54  CounterTop      -0.303         0.951          -2.793         0              0              0
  55  Cabinet         -0.883         2.140          -3.687         0              0              0
  56  Cabinet         -0.312         2.140          -1.543         0              0              0
  57  Sink            -0.349         0.907          -2.014         0              0              0
  58  Cabinet         -0.877         0.388          -3.422         0              0              0
  59  Cabinet         -0.582         0.388          -2.197         0              0              0
  60  Cabinet         -0.584         0.388          -3.396         0              0              0
  61  Cabinet         -0.312         2.140          -2.481         0              0              0
  62  Cabinet         -0.330         1.921          -3.390         0              0              0
  63  Cabinet         -1.764         2.140          -3.687         0              0              0
  64  StoveBurner     -1.129         0.928          -3.752         0              90             0
  65  Drawer          -0.454         0.779          -3.268         0              0              0
  66  Cabinet         -0.302         1.916          -2.501         0              0              0
  67  Microwave       -1.317         1.517          -3.801         0              1.440          0
  68  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  69  LightSwitch     -4.323         1.319          0.0            0              180            0
  70  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  71  Fridge          -0.330         0.0            -0.769         0              270            0
  72  SinkBasin       -0.350         0.786          -2.018         0              270            0
  73  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  74  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  75  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  76  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  77  Toaster         -0.181         0.903          -2.764         0              270            0
  78  Window          -2.503         1.782          -4.185         90             180            0
  79  DiningTable     -2.432         0.000          -1.694         0              270            0
  80  Shelf           -2.432         0.150          -1.694         0              270            0
  81  Blinds          -2.536         2.699          -3.959         0              0              0
  82  Faucet          -0.079         0.904          -2.034         270            180            0
  83  Chair           -3.264         0.002          -2.094         0              53.280         0
  84  Chair           -3.240         0.002          -1.253         0              117.257        0
  85  Shelf           -2.432         0.523          -1.694         0              270            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: turn around and move across the room to the white dishwasher that is passed the stove on the right | STEP 2: open the cabinet door that is to the right of the dishwasher and remove the martini glass from the cabinet and close the door | STEP 3: turn to the right right to face the stove with the microwave above the stove | STEP 4: open the door to the microwave, put the martini glass in to the microwave, close the door, heat the glass for a few seconds, open the door and remove the glass, close the door | STEP 5: turn around and move forward and stop and face the dining table on the left | STEP 6: put the glass on the right corner of the table | END