Task: put a tray into a microwave  putting it inside a cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.900          -1.75          0              180            0
   1  DishSponge      -0.527         0.813          -3.454         0              315            0              69
   2  DishSponge      -3.565         0.894          -0.462         0              270            0              77
   3  ButterKnife     -4.062         0.690          -0.309         0              90             0              75
   4  Spatula         -3.468         0.775          -2.882         0              199.125        0              76
   5  Egg             -4.242         0.731          -0.126         0              0              0              75
   6  Egg             -0.471         0.855          -3.163         0              315            0              69
   7  Cup             -2.560         0.895          -0.462         0              270            0              77
   8  Cup             -2.560         0.895          -0.119         0              270            0              77
   9  Plate           -2.962         0.908          -0.548         0              270            0              77
  10  Plate           -0.469         0.094          -2.793         0              0              0              53
  11  Plate           -0.136         1.956          -0.660         0              0              0              47
  12  Knife           -2.962         0.920          -0.204         0              270            0              77
  13  Knife           -2.761         0.920          -0.290         0              270            0              77
  14  Tomato          -0.245         1.539          -0.413         0              270            0              70
  15  Lettuce         -0.283         1.579          -0.762         0              270            0              70
  16  Lettuce         -0.397         1.033          -2.847         0              0              0              40
  17  SaltShaker      -0.247         0.938          -3.126         0              45             0              40
  18  Apple           -4.122         0.752          -0.491         0              0              0              75
  19  SoapBottle      -3.565         0.892          -0.548         0              180            0              77
  20  Pot             -0.437         0.961          -1.845         0              180            0              41
  21  Fork            -0.702         0.814          -3.395         0              225            0              69
  22  Cup             -0.293         1.287          -0.762         0              270            0              70
  23  Tomato          -4.002         0.742          -0.430         0              0              0              75
  24  Pan             -0.217         0.958          -2.215         0              45             0              59
  25  Plate           -3.839         0.774          -3.570         0              199.125        0              76
  26  Bread           -3.565         0.976          -0.204         0              270            0              77
  27  Spatula         -1.248         0.957          -3.829         0              0              0              40
  28  Knife           -0.315         0.966          -1.538         0              0              0              58
  29  SaltShaker      -0.436         0.743          -1.413         0              0              0              44
  30  PepperShaker    -0.554         0.743          -1.413         0              0              0              44
  31  ButterKnife     -0.236         0.941          -1.494         0              0              0              58
  32  Apple           -0.359         1.550          -0.413         0              270            0              70
  33  DishSponge      -3.800         0.759          -3.237         0              334.125        0              76
  34  Potato          -0.393         0.846          -3.241         0              315            0              69
  35  Egg             -0.434         1.529          -0.529         0              270            0              70
  36  Spoon           -0.740         0.814          -3.588         0              45             0              69
  37  Lettuce         -4.062         0.782          -0.187         0              0              0              75
  38  Mug             -3.882         0.685          -0.309         0              0              0              75
  39  Bowl            -0.968         0.940          -3.759         0              45             0              40
  40  CounterTop      -1.937         0.977          -3.673         0              0              0
  41  StoveBurner     -0.437         0.924          -1.845         0              180            0
  42  StoveBurner     -0.222         0.924          -1.845         0              180            0
  43  StoveBurner     -0.437         0.924          -2.243         0              0              0
  44  Drawer          -0.500         0.779          -1.450         0              0              0
  45  Drawer          -0.481         0.777          -2.739         0              0              0
  46  Drawer          -1.154         0.782          -3.499         0              0              0
  47  Cabinet         -0.337         2.110          -0.390         0              0              0
  48  Cabinet         -0.337         2.110          -1.272         0              0              0
  49  Cabinet         -0.337         2.110          -1.631         0              0              0
  50  Cabinet         -0.337         2.110          -2.497         0              0              0
  51  Cabinet         -0.337         1.891          -1.286         0              0              0
  52  Cabinet         -0.346         1.891          -3.293         0              0              0
  53  Cabinet         -0.629         0.388          -2.513         0              0              0
  54  Cabinet         -0.633         0.388          -3.008         0              0              0
  55  Cabinet         -1.010         0.388          -3.368         0              0              0
  56  Cabinet         -0.629         0.388          -1.614         0              0              0
  57  Cabinet         -0.327         1.886          -2.513         0              0              0
  58  CounterTop      -0.326         0.976          -1.450         0              0              0
  59  StoveBurner     -0.222         0.924          -2.243         0              0              0
  60  Sink            -0.600         0.929          -3.388         0              0              0
  61  StoveKnob       -0.617         0.899          -1.833         315            90             180
  62  StoveKnob       -0.617         0.899          -2.129         315            90             180
  63  StoveKnob       -0.617         0.899          -2.289         315            90             180
  64  StoveKnob       -0.617         0.899          -1.975         315            90             180
  65  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  66  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  67  Window          -1.389         1.610          -4.113         90             0              0
  68  LightSwitch     -4.372         1.493          -1.031         0              90             0
  69  SinkBasin       -0.614         0.802          -3.384         0              315            0
  70  Fridge          -0.314         0.0            -0.646         0              0              0
  71  Toaster         -1.970         0.930          -3.763         0              0              0
  72  Microwave       -0.216         1.470          -2.054         0              270            0
  73  Blinds          -1.373         2.205          -3.961         0              0              0
  74  Faucet          -0.393         0.930          -3.614         270            225            0
  75  SideTable       -4.030         0.002          -0.301         0              185.034        0
  76  DiningTable     -3.586         0.000          -3.258         0              0              0
  77  DiningTable     -3.224         -0.003         -0.453         0              0              0
  78  Shelf           -4.030         0.259          -0.301         0              185.034        0
  79  Shelf           -4.030         0.489          -0.301         0              185.034        0
  80  EastWall
  81  EastWall
  82  SouthWall

Plan:
STEP 1: backing up and turn in to the right  | STEP 2: open up the cabinet door and a get a tray  | STEP 3: turn to the right | STEP 4: open the microwave door place the tray into the microwave plate  | STEP 5: get the tray out of the microwave turn to the right | STEP 6: open the cabinet and put tray inside of the cabinet | END