Task: get a chalice, warm it in the microwave then put it back where it came from

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          1.5            0              90             0
   1  Potato          -2.726         1.182          2.045          0              90             0              66
   2  ButterKnife     -2.044         0.823          0.518          0              0              0              48
   3  ButterKnife     -0.147         0.823          0.352          0              0              0              48
   4  Spoon           -0.916         0.712          0.378          0              90             0              51
   5  Spoon           -2.044         0.824          0.528          0              0              0              48
   6  Egg             -0.395         0.080          2.539          0              0              0              68
   7  Egg             -2.892         0.849          2.045          0              90             0              66
   8  Cup             -2.882         1.434          1.049          0              0              0              56
   9  Cup             -2.671         1.445          2.045          0              90             0              66
  10  Cup             -2.724         0.823          0.129          0              0              0              48
  11  Tomato          -0.262         0.106          2.606          0              0              0              68
  12  Tomato          -2.837         1.495          1.957          0              90             0              66
  13  Bowl            -1.943         0.121          0.401          0              0              0              60
  14  SaltShaker      -2.491         0.818          0.129          0              0              0              48
  15  PepperShaker    -1.542         0.818          0.046          0              0              0              48
  16  PepperShaker    -2.338         1.431          0.114          0              270            0              55
  17  Mug             -2.671         0.819          2.133          0              90             0              66
  18  Mug             -2.375         0.818          0.352          0              0              0              48
  19  Apple           -2.837         0.897          2.133          0              90             0              66
  20  Apple           -0.395         0.129          2.640          0              90             0              68
  21  Fork            -1.214         0.813          0.498          0              0              0              48
  22  Ladle           -0.371         0.738          0.879          0              45             0              50
  23  Pan             -0.244         0.829          1.684          0              0              0              47
  24  SoapBottle      -2.504         0.821          0.871          0              0              0              48
  25  Pot             -0.531         0.822          2.096          0              0              0              45
  26  Tomato          -2.669         1.181          2.373          0              0              0              66
  27  Potato          -1.481         0.741          0.295          0              0              0              75
  28  SaltShaker      -1.465         0.120          0.479          0              0              0              61
  29  Plate           -2.746         1.439          0.200          0              45             0              54
  30  Spatula         -2.608         0.838          0.203          0              90             0              48
  31  Knife           -2.662         0.819          0.557          90             300.034        0              48
  32  Egg             -2.744         0.945          1.231          0              90             0              67
  33  Cup             -0.477         0.823          1.326          0              0              0              48
  34  ButterKnife     -1.709         0.823          0.518          0              0              0              48
  35  Lettuce         -2.837         1.227          2.397          0              90             0              66
  36  PepperShaker    -2.581         0.818          0.544          0              0              0              48
  37  DishSponge      -2.504         0.823          0.462          0              0              0              48
  38  Bread           -0.979         0.855          0.249          0              29.999         0              48
  39  Spoon           -1.189         0.699          0.444          0              270            0              52
  40  Mug             -2.462         1.844          2.420          0              0              0              58
  41  Bowl            -2.609         0.118          1.510          0              0              0              59
  42  Cabinet         -2.377         2.015          1.720          0              0              0
  43  StoveBurner     -0.244         0.820          2.075          0              180            0
  44  Drawer          -0.402         0.703          1.252          0              0              0
  45  StoveBurner     -0.518         0.820          2.075          0              180            0
  46  Sink            -1.838         0.726          0.343          0              180            0
  47  StoveBurner     -0.244         0.820          1.684          0              0              0
  48  CounterTop      -1.557         0.859          0.277          0              0              0
  49  StoveBurner     -0.518         0.820          1.684          0              0              0
  50  Drawer          -0.404         0.704          0.912          0              0              0
  51  Drawer          -0.861         0.709          0.420          0              0              0
  52  Drawer          -1.133         0.706          0.418          0              0              0
  53  Drawer          -2.589         0.703          1.511          0              0              0
  54  Cabinet         -2.772         1.803          0.508          0              0              0
  55  Cabinet         -2.460         1.803          0.231          0              0              0
  56  Cabinet         -2.781         1.798          0.825          0              0              0
  57  Cabinet         -2.781         1.798          0.815          0              0              0
  58  Cabinet         -2.377         2.009          2.581          0              0              0
  59  Cabinet         -2.442         0.385          1.672          0              0              0
  60  Cabinet         -2.238         0.385          0.564          0              0              0
  61  Cabinet         -1.286         0.385          0.564          0              0              0
  62  Cabinet         -1.262         0.385          0.565          0              0              0
  63  Cabinet         -0.734         0.385          0.565          0              0              0
  64  Cabinet         -0.549         0.385          0.751          0              0              0
  65  Cabinet         -0.549         0.385          1.412          0              0              0
  66  Fridge          -2.782         0.0            2.221          0              0              0
  67  Microwave       -2.794         0.812          1.348          0              90             0
  68  GarbageCan      -0.329         2.205          2.606          0              0              0
  69  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  70  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  71  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  72  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  73  Window          -1.720         1.342          -0.208         90             0              0
  74  Toaster         -0.171         0.812          0.735          0              270            0
  75  SinkBasin       -1.745         0.687          0.295          0              0              0
  76  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  77  LightSwitch     -0.615         1.378          3.0            0              180            0
  78  Faucet          -1.686         0.954          0.176          0              236.223        0
  79  Stool           -1.008         0.008          1.955          0              18.279         0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: walk over to the counter where the microwave is  | STEP 2: open the upper cabinet and take the chalice out | STEP 3: approach the microwave with the chalice | STEP 4: warm the chalice in the microwave then remove | STEP 5: raise the chalice up toward the cabinet above the microwave | STEP 6: put the chalice back in the cabinet | END