Task: Put a glass away 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             -0.473         1.111          0.504          0              0              0              57
   2  Potato          -1.852         0.800          -1.587         0              90             0              92
   3  Cup             -2.037         0.796          1.334          0              90             0              90
   4  Egg             -1.955         0.575          0.837          0              90             0              90
   5  Tomato          -2.163         0.579          1.334          0              90             0              90
   6  Tomato          -1.995         0.837          0.837          0              90             0              90
   7  SoapBottle      -1.907         0.048          1.981          0              270            0              88
   8  PepperShaker    -1.457         1.654          -2.567         0              0              0              73
   9  PepperShaker    1.893          0.549          -2.511         0              180            0              87
  10  Lettuce         -0.197         1.191          -0.506         0              0              0              57
  11  Lettuce         0.355          1.191          -0.759         0              0              0              57
  12  Apple           -0.122         1.841          -2.482         0              0              0              83
  13  Knife           0.840          0.936          -2.253         0              180            0              59
  14  Knife           0.840          0.936          -2.560         0              180            0              59
  15  Spoon           0.892          0.143          -2.334         0              0              0              77
  16  Mug             -1.852         0.764          -1.328         0              90             0              92
  17  Mug             -1.731         0.956          -0.168         0              90             0              91
  18  ButterKnife     0.217          1.111          -0.001         0              0              0              57
  19  ButterKnife     -1.733         0.911          -2.253         0              0              0              82
  20  WineBottle      0.505          1.660          -2.632         0              0              0              81
  21  Bowl            -0.197         1.108          0.757          0              0              0              57
  22  Book            0.155          1.1            0.617          0              315            0              57
  23  Glassbottle     1.478          0.553          -2.459         0              180            0              87
  24  Knife           0.582          0.936          -2.330         0              0              0              59
  25  Bread           1.098          0.983          -2.407         0              0              0              59
  26  Fork            -1.693         0.911          -0.884         0              0              0              82
  27  Potato          -1.586         0.941          -2.483         0              0              0              82
  28  SoapBottle      -1.989         0.048          2.029          0              270            0              88
  29  Kettle          -1.104         0.138          -2.402         0              0              0              75
  30  Pan             -0.036         0.950          -2.576         0              270            0              60
  31  Plate           -0.335         1.108          -0.001         0              0              0              57
  32  Tomato          -0.059         1.150          -0.253         0              0              0              57
  33  Vase            2.042          0.540          -2.495         0              0              0              87
  34  Egg             -1.935         0.083          2.124          0              270            0              88
  35  CreditCard      -1.774         0.908          -0.513         0              0              0              82
  36  Statue          -0.059         1.110          0.251          0              180            0              57
  37  WineBottle      -1.605         0.137          -1.156         0              90             0              58
  38  Pot             -0.465         0.950          -2.372         0              90             0              55
  39  Spatula         0.777          0.661          -2.459         0              90             0              62
  40  PaperTowelRoll  -0.197         1.215          -0.001         0              180            0              57
  41  Cup             -1.755         0.134          -1.273         0              90             0              58
  42  Vase            1.478          0.550          -2.614         0              180            0              87
  43  Bowl            -2.040         1.499          1.092          0              90             0              90
  44  SaltShaker      -1.611         0.907          -2.366         0              0              0              82
  45  PepperShaker    -0.898         1.652          -2.532         0              0              0              71
  46  Lettuce         -2.070         1.385          1.260          0              90             0              90
  47  ButterKnife     0.893          0.481          -2.380         0              0              0              65
  48  Apple           -1.963         0.820          -1.414         0              90             0              92
  49  DishSponge      -1.696         0.793          0.155          0              90             0              54
  50  Spoon           -1.782         0.795          0.155          0              90             0              54
  51  Mug             0.079          1.106          -0.759         0              0              0              57
  52  StoveBurner     -0.036         0.915          -2.372         0              0              0
  53  Drawer          0.949          0.832          -2.197         0              0              0
  54  Drawer          -1.560         0.839          0.204          0              90             0
  55  StoveBurner     -0.465         0.915          -2.371         0              180            0
  56  Drawer          -1.560         0.839          -0.197         0              90             0
  57  CounterTop      -0.079         1.147          -0.001         0              0              0
  58  Cabinet         -1.549         0.494          -1.964         0              90             0
  59  CounterTop      0.693          0.946          -2.483         0              0              0
  60  StoveBurner     -0.036         0.915          -2.576         0              0              0
  61  Drawer          0.949          0.393          -2.200         0              0              0
  62  Drawer          0.949          0.708          -2.200         0              0              0
  63  Cabinet         -1.549         0.494          0.379          0              90             0
  64  StoveKnob       -0.022         0.881          -2.187         45             0              0
  65  Drawer          0.949          0.560          -2.201         0              0              0
  66  StoveBurner     -0.465         0.915          -2.575         0              180            0
  67  Window          -2.230         1.429          -1.203         0              0              0
  68  StoveKnob       -0.483         0.881          -2.187         45             0              0
  69  Sink            -1.899         0.964          -1.5           0              90             0
  70  StoveKnob       -0.328         0.881          -2.187         45             0              0
  71  Cabinet         -0.727         2.015          -2.460         0              0              0
  72  Drawer          -1.560         0.655          -0.196         0              90             0
  73  Cabinet         -1.685         2.015          -2.461         0              0              0
  74  Cabinet         0.680          0.494          -2.200         0              0              0
  75  Cabinet         -1.179         0.494          -2.200         0              0              0
  76  Cabinet         -1.849         2.015          0.379          0              90             0
  77  Drawer          0.949          0.221          -2.200         0              0              0
  78  StoveKnob       -0.183         0.881          -2.187         45             0              0
  79  Cabinet         0.719          2.015          -2.460         0              0              0
  80  Drawer          -1.560         0.331          -0.196         0              90             0
  81  Cabinet         0.680          2.015          -2.460         0              0              0
  82  CounterTop      -1.868         0.946          -1.205         0              0              0
  83  Microwave       -0.236         1.689          -2.525         0              0              0
  84  Shelf           1.751          0.880          -2.560         0              0              0
  85  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  86  Toaster         -1.835         0.900          0.134          0              90             0
  87  Shelf           1.750          0.552          -2.559         0              0              0
  88  GarbageCan      -1.935         -0.002         2.029          0              270            0
  89  Shelf           1.750          0.172          -2.559         0              0              0
  90  Fridge          -2.096         0.0            1.088          0              0              0
  91  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  92  SinkBasin       -1.908         0.759          -1.488         0              90             0
  93  LightSwitch     2.329          1.309          -0.159         0              270            0
  94  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  95  Stool           0.702          0.000          -0.514         1.202          65.108         0
  96  Stool           0.743          0.000          0.563          1.227          106.706        0
  97  Faucet          -2.070         1.132          -1.514         0              0              0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Turn around and go to the sink on the left | STEP 2: Open the cupboard below the sink and get the glass | STEP 3: Turn around and go the stove on the right | STEP 4: Open the microwave door above the stove, put the glass inside next to the apple, close the door, turn the microwave on, open the microwave door, take out the glass, and close the microwave door | STEP 5: Go to the cupboard to the right of the microwave | STEP 6: Open the cupboard door, put the glass inside, and close the cupboard door | END