Task: Place the microwaved green cup inside of the cabinet beneath the sink to the right.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           1.124          -0.5           0              0              0
   1  DishSponge      -1.886         0.343          1.213          0              0              0              54
   2  Kettle          -1.237         1.324          -3.092         0              0              0              53
   3  Spoon           -2.179         1.324          -1.941         0              0              0              53
   4  Spoon           0.899          0.461          0.681          0              0              0              79
   5  Spatula         1.285          1.337          -2.424         0              0              0              53
   6  Spatula         1.025          1.337          -0.942         0              180            0              53
   7  Pot             -0.239         1.331          -3.301         0              180            0              48
   8  Pot             -0.749         1.332          -2.973         0              0              0              56
   9  Egg             -1.954         1.091          -0.451         0              0              0              71
  10  Egg             -1.094         1.363          -2.870         0              0              0              53
  11  Plate           -1.682         0.344          1.420          0              0              0              54
  12  Knife           -2.004         1.366          -1.186         0              90             0              60
  13  Knife           -1.660         1.352          1.419          0              0              0              53
  14  Tomato          0.920          1.558          1.477          0              270            0              66
  15  Tomato          0.945          2.062          2.288          0              270            0              66
  16  Bowl            -1.789         0.342          -2.362         0              270            0              49
  17  Bowl            -1.817         0.342          0.412          0              0              0              51
  18  SaltShaker      -1.381         1.318          -0.332         0              0              0              53
  19  Bread           0.506          1.397          -1.312         0              0              0              53
  20  Lettuce         -1.790         1.399          -1.941         0              0              0              53
  21  Lettuce         0.766          1.399          -2.794         0              0              0              53
  22  Mug             0.747          0.339          -1.957         0              180            0              52
  23  Mug             0.965          1.371          -1.534         0              270            0              74
  24  Apple           -1.790         1.371          0.770          0              0              0              53
  25  Bread           0.492          1.397          -3.121         0              0              0              53
  26  Pot             -0.630         1.331          -3.301         0              180            0              50
  27  Knife           -1.790         1.352          -1.681         0              90             0              53
  28  Bowl            -1.165         1.321          -3.314         0              0              0              53
  29  Potato          0.920          1.564          1.724          0              270            0              66
  30  SoapBottle      -1.660         1.323          -1.681         0              0              0              53
  31  Fork            0.766          1.323          -3.164         0              0              0              53
  32  Cup             0.938          1.754          2.230          0              270            0              66
  33  Kettle          0.506          1.324          -2.794         0              90             0              53
  34  Egg             -1.451         1.363          -2.870         0              0              0              53
  35  Pan             -1.881         0.327          -2.035         0              0              0              49
  36  SaltShaker      0.944          1.202          1.222          0              0              0              78
  37  WineBottle      -1.401         1.323          -1.941         0              0              0              53
  38  Lettuce         -1.891         1.400          -1.073         1.281          0              355.700        60
  39  Spatula         -1.648         1.343          -1.324         0              0              0              60
  40  PaperTowelRoll  -1.634         0.384          2.234          0              270            0              68
  41  Tomato          -1.237         1.356          -2.760         0              0              0              53
  42  Plate           1.053          0.345          -2.267         0              180            0              52
  43  PepperShaker    -1.954         0.338          1.420          0              0              0              54
  44  DishSponge      -1.826         1.063          -0.496         0              0              0              71
  45  Spoon           -1.762         1.052          -0.587         0              180            0              71
  46  Apple           1.095          1.806          2.171          0              270            0              66
  47  Mug             0.349          1.318          -2.678         0              0              0              53
  48  StoveBurner     -0.239         1.325          -3.301         0              180            0
  49  Cabinet         -1.461         0.775          -2.002         0              0              0
  50  StoveBurner     -0.630         1.325          -3.301         0              180            0
  51  Cabinet         -1.461         0.775          0.470          0              0              0
  52  Cabinet         0.578          0.776          -2.054         0              0              0
  53  CounterTop      -1.809         1.358          1.182          0              0              0
  54  Cabinet         -1.461         0.775          1.310          0              0              0
  55  Faucet          -2.063         1.362          -0.726         0              39.391         0
  56  StoveBurner     -0.749         1.325          -2.973         0              0              0
  57  Drawer          -1.610         0.681          -0.430         0              0              0
  58  Window          -2.566         1.799          -0.822         270            0              0
  59  Drawer          -1.610         0.681          -1.217         0              0              0
  60  Sink            -1.990         1.143          -0.975         0              0              0
  61  StoveBurner     -0.125         1.325          -2.973         0              0              0
  62  StoveKnob       -0.185         1.338          -2.741         0              270            180
  63  StoveKnob       -0.336         1.338          -2.741         0              270            180
  64  StoveKnob       -0.569         1.338          -2.741         0              270            180
  65  StoveKnob       -0.707         1.338          -2.741         0              270            180
  66  Fridge          1.013          0.227          1.917          0              270            0
  67  Microwave       0.994          1.310          -2.163         0              270            0
  68  GarbageCan      -1.633         0.212          2.192          0              270            0
  69  LightSwitch     1.386          1.565          -0.657         0              270            0
  70  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  71  SinkBasin       -1.835         1.039          -0.542         0              0              0
  72  ButterKnife     0.873          0.468          0.651          0              0              0
  73  Toaster         -1.885         1.310          -2.512         0              90             0
  74  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  75  Drawer          0.647          1.061          0.680          0              270            0
  76  Drawer          0.648          1.061          1.020          0              270            0
  77  Drawer          0.648          0.843          1.020          0              270            0
  78  SideTable       0.975          0.220          0.869          0              270            0
  79  Drawer          0.648          0.602          0.680          0              270            0
  80  Drawer          0.648          0.596          1.020          0              270            0
  81  Drawer          0.648          0.843          0.680          0              270            0
  82  Stool           0.606          0.222          -1.084         1.233          280.489        0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn straight and turn right to face the refrigerator. | STEP 2: Open the refrigerator and pick up the green cup inside. | STEP 3: Move to the right to face the microwave. | STEP 4: Microwave the green cup and then remove the green cup from the microwave. | STEP 5: Turn around and go straight to face the counter to the right of the sink. | STEP 6: Open the cabinet to the right and place the green cup inside of it. | END