Task: place a microwaved cup in a kitchen cabinet

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  Pan             1.422          0.911          1.129          0              0              0              83
   2  Potato          1.955          0.946          1.044          0              0              0              83
   3  DishSponge      2.217          0.770          1.083          0              0              0              79
   4  Kettle          1.525          0.115          1.156          0              0              0              77
   5  Pot             2.777          1.022          -0.775         0              0              0              103
   6  Pot             0.281          0.964          1.082          0              0              0              54
   7  Spoon           -0.785         0.822          -1.255         0              180            0              107
   8  Spatula         -0.734         0.835          -1.255         0              90             0              107
   9  Spatula         -0.007         0.926          1.468          0              270            0              59
  10  Plate           2.715          1.566          -0.578         0              0              0              103
  11  Plate           0.759          2.156          1.468          0              0              0              57
  12  Cup             2.962          1.016          -0.578         0              0              0              103
  13  Egg             -1.056         0.858          -1.411         0              90             0              107
  14  Knife           -0.983         0.853          -1.206         0              270            0              107
  15  Knife           1.955          0.944          1.214          0              0              0              83
  16  SoapBottle      -1.962         0.429          1.417          0              270            0              101
  17  Bowl            1.688          0.909          1.383          0              0              0              83
  18  SaltShaker      0.888          0.908          -0.6           0              0              0              48
  19  PepperShaker    1.102          0.111          1.196          0              0              0              77
  20  Lettuce         -0.734         0.901          -1.400         0              0              0              107
  21  Lettuce         -0.103         0.992          1.214          0              90             0              59
  22  Mug             2.777          0.721          -0.565         0              0              0              103
  23  Apple           2.754          0.980          1.468          0              0              0              83
  24  Apple           0.193          0.834          -0.762         0              0              0              105
  25  SoapBottle      1.524          1.660          1.432          0              0              0              71
  26  Plate           2.488          0.914          1.299          0              0              0              83
  27  Fork            1.799          0.771          1.198          0              270            0              81
  28  Pot             1.955          0.915          1.468          0              0              0              83
  29  Bread           0.634          0.969          -0.515         0              0              0              48
  30  Egg             2.591          1.601          -0.775         0              0              0              103
  31  Kettle          0.710          0.9            -0.772         0              0              0              48
  32  Tomato          2.777          1.050          -0.447         0              0              0              103
  33  Cup             1.102          0.112          1.077          0              0              0              55
  34  Spatula         0.251          0.926          -0.330         0              0              0              48
  35  Apple           -0.103         0.980          1.468          0              0              0              59
  36  Pan             0.637          0.960          1.090          0              0              0              51
  37  Lettuce         1.155          0.992          1.383          0              0              0              83
  38  SaltShaker      -0.621         0.817          -1.257         0              90             0              107
  39  Knife           -0.836         0.853          -1.473         0              0              0              107
  40  Potato          0.053          0.800          -0.651         0              0              0              105
  41  PepperShaker    2.754          0.908          1.129          0              0              0              83
  42  ButterKnife     2.156          0.911          -0.515         0              0              0              48
  43  Bowl            2.715          1.286          -0.644         0              0              0              103
  44  DishSponge      1.155          0.911          1.044          0              0              0              83
  45  Spoon           2.488          0.912          1.044          0              0              0              83
  46  Mug             1.428          0.965          -0.577         0              0              0              48
  47  Sink            0.050          0.902          -0.648         0              0              0
  48  CounterTop      1.358          0.947          -0.600         0              0              0
  49  Cabinet         2.986          2.009          1.304          0              0              0
  50  Cabinet         1.022          2.009          -0.607         0              180            0
  51  StoveBurner     0.678          0.923          1.082          0              0              0
  52  Cabinet         2.371          0.402          0.995          0              0              0
  53  Drawer          -0.125         0.792          0.995          0              0              0
  54  StoveBurner     0.281          0.923          1.082          0              0              0
  55  Cabinet         1.025          0.402          0.995          0              0              0
  56  Cabinet         1.023          0.402          -0.296         0              180            0
  57  Cabinet         0.974          2.259          1.304          0              0              0
  58  Cabinet         0.979          2.009          -0.607         0              180            0
  59  CounterTop      -0.158         0.947          1.299          0              0              0
  60  Cabinet         1.725          2.009          1.304          0              0              0
  61  Drawer          2.205          0.792          -0.294         0              180            0
  62  Drawer          1.869          0.792          -0.294         0              180            0
  63  StoveBurner     0.281          0.923          1.347          0              0              0
  64  Drawer          2.512          0.792          0.995          0              0              0
  65  Cabinet         1.673          0.402          -0.296         0              180            0
  66  Drawer          1.524          0.792          0.995          0              0              0
  67  Drawer          1.174          0.792          -0.294         0              180            0
  68  Cabinet         1.720          0.402          0.995          0              0              0
  69  Cabinet         2.348          2.009          -0.607         0              180            0
  70  Cabinet         1.676          2.009          -0.607         0              180            0
  71  Cabinet         1.673          2.009          1.304          0              0              0
  72  Cabinet         2.326          2.009          1.304          0              0              0
  73  Cabinet         2.370          2.009          1.304          0              0              0
  74  Cabinet         0.021          2.009          1.304          0              0              0
  75  Cabinet         1.025          2.009          1.304          0              0              0
  76  Cabinet         -0.274         0.402          0.995          0              0              0
  77  Cabinet         1.675          0.402          0.995          0              0              0
  78  Drawer          1.524          0.792          -0.294         0              180            0
  79  Drawer          2.187          0.792          0.995          0              0              0
  80  Cabinet         2.977          0.402          0.995          0              0              0
  81  Drawer          1.862          0.792          0.995          0              0              0
  82  Cabinet         0.072          2.259          1.304          0              0              0
  83  CounterTop      1.917          0.947          1.299          0              0              0
  84  Cabinet         2.328          0.402          0.995          0              0              0
  85  Cabinet         1.723          2.009          -0.607         0              180            0
  86  StoveBurner     0.677          0.923          1.345          0              0              0
  87  Cabinet         0.355          2.009          -0.607         0              180            0
  88  Cabinet         0.332          2.009          -0.607         0              180            0
  89  Cabinet         2.349          0.402          -0.296         0              180            0
  90  Cabinet         -0.284         2.009          -0.607         0              180            0
  91  Faucet          0.061          0.906          -0.903         0              0              0
  92  Drawer          2.837          0.792          0.995          0              0              0
  93  Drawer          1.175          0.792          0.995          0              0              0
  94  Cabinet         1.723          0.402          -0.296         0              180            0
  95  StoveKnob       0.588          1.093          1.557          287.970        0              0
  96  StoveKnob       0.188          1.093          1.557          287.970        0              0
  97  StoveKnob       0.749          1.093          1.557          287.970        0              0
  98  StoveKnob       0.338          1.093          1.557          287.970        0              0
  99  Toaster         1.934          0.900          -0.717         0              0              0
 100  LightSwitch     -1.662         1.427          1.649          0              180            0
 101  GarbageCan      -1.965         -0.029         1.358          0              270            0
 102  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 103  Fridge          3.043          0.0            -0.709         0              0              0
 104  Window          -2.183         1.501          -0.014         90             270            0
 105  SinkBasin       0.043          0.755          -0.651         0              0              0
 106  Microwave       0.531          1.675          1.437          0              180            0
 107  DiningTable     -0.836         8.404          -1.258         0              0              0
 108  Chair           -1.611         0.002          -1.185         0              45             0
 109  NorthWall
 110  EastWall
 111  SouthWall
 112  WestWall

Plan:
STEP 1: walk over to the kitchen counter to the right of the stove | STEP 2: grab a cup from the cabinet underneath the counter | STEP 3: turn around and walk over to the kitchen stove | STEP 4: place the cup in the microwave above the kitchen stove, turn it on, and when it's done take it out | STEP 5: turn around and face the cabinets behind you | STEP 6: put the cup in the upper cabinet on the left | END