Task: Put a cup back 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           0.25           0.900          1.75           0              0              0
   1  Pan             -1.109         0.930          1.470          0              0              0              40
   2  DishSponge      -1.081         1.500          2.216          0              180            0              69
   3  ButterKnife     -1.043         0.937          0.921          0              0              0              63
   4  Fork            -1.127         0.928          2.310          0              0              0              38
   5  Fork            -0.689         0.747          0.914          0              270            0              61
   6  Spatula         -0.758         0.761          0.779          0              90             0              61
   7  Plate           1.516          0.942          0.873          0              0              0              43
   8  Plate           -0.804         0.086          2.313          0              0              0              59
   9  Tomato          -0.924         1.560          -0.034         0              90             0              70
  10  SoapBottle      -0.715         0.083          0.985          0              0              0              50
  11  SoapBottle      -1.209         0.937          1.076          0              0              0              63
  12  Bowl            1.430          0.078          0.848          0              0              0              64
  13  SaltShaker      1.275          0.078          2.532          0              0              0              47
  14  PepperShaker    1.750          1.497          2.526          0              0              0              57
  15  PepperShaker    1.346          0.097          0.070          0              0              0              48
  16  Bread           -0.971         1.387          0.195          0              90             0              70
  17  Lettuce         1.457          1.014          1.681          4.271          59.966         0              65
  18  SoapBottle      1.489          0.069          2.912          0              0              0              76
  19  Bread           -0.915         0.990          2.264          0              302.151        0              38
  20  Fork            1.352          0.738          2.491          0              291.525        0              41
  21  Tomato          -1.065         1.380          0.348          0              90             0              70
  22  Bowl            1.430          0.078          2.532          0              0              0              47
  23  Pot             -0.818         0.927          0.816          0              270            0              63
  24  Spatula         1.310          0.761          0.916          0              90             0              68
  25  Knife           -0.723         0.768          2.517          0              270            0              39
  26  SaltShaker      1.448          0.743          1.052          0              0              0              68
  27  Apple           -0.964         0.864          0.042          0              90             0              70
  28  PepperShaker    -0.861         0.743          2.177          0              180            0              39
  29  ButterKnife     -0.793         0.937          1.076          0              0              0              63
  30  Potato          1.456          0.880          1.369          0              180            0              80
  31  Plate           -0.791         0.088          0.774          0              0              0              50
  32  DishSponge      1.439          0.937          2.022          0              0              0              43
  33  Egg             1.390          0.105          2.912          0              0              0              76
  34  Cup             1.385          1.070          0.173          0              0              0              44
  35  Pan             -1.109         0.930          1.865          0              0              0              62
  36  Spoon           -0.827         0.747          0.847          0              270            0              61
  37  Mug             1.767          0.932          1.458          0              0              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: Turn and walk toward the sink on the right | STEP 2: Pick up the cup on the counter above the sink | STEP 3: Lift the cup to the microwave  | STEP 4: Open the microwave door, place the cup inside, close the microwave door, turn the microwave on, open the door, and remove the cup | STEP 5: Turn all the way around and raise the cup to the cupboard | STEP 6: Open the cupboard door, place the cup on the bottom shelf inside, and close the cupboard door | END