Task: Put a glass in the microwave, put the glass in a cupboard

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          3.75           0              180            0
   1  DishSponge      0.871          0.771          0.619          0              0              0              49
   2  Spoon           -0.093         0.761          6.633          0              225            0              93
   3  Spoon           -0.611         0.993          0.486          0              0              0              57
   4  Spatula         0.056          0.786          0.396          0              90             0              54
   5  Fork            -0.486         0.760          6.151          0              225            0              93
   6  Fork            0.305          0.760          6.541          0              270            0              93
   7  Egg             -0.611         1.042          0.120          0              0              0              57
   8  Cup             2.051          1.511          5.876          0              270            0              79
   9  Cup             0.674          0.139          0.576          0              0              0              63
  10  Plate           1.490          0.141          3.217          0              0              0              68
  11  Plate           0.212          0.760          6.196          0              135            0              93
  12  Knife           1.403          1.022          3.231          0              0              0              57
  13  Tomato          0.999          1.042          0.212          0              0              0              57
  14  SaltShaker      1.406          0.135          1.938          0              0              0              46
  15  SaltShaker      1.155          0.135          3.143          0              0              0              68
  16  Lettuce         -0.384         1.081          0.395          0              0              0              57
  17  Lettuce         1.493          1.081          0.213          0              0              0              57
  18  Mug             -0.378         0.755          6.698          0              135            0              93
  19  Mug             0.674          0.138          0.418          0              0              0              63
  20  Apple           1.135          1.067          4.716          0              0              0              58
  21  Apple           -0.467         0.834          6.604          0              270            0              93
  22  Bowl            2.051          1.514          5.626          0              270            0              79
  23  Bread           1.099          1.048          0.434          0              0              0              57
  24  Egg             -0.312         0.810          6.416          0              270            0              93
  25  Knife           0.058          0.789          6.261          0              135            0              93
  26  Fork            -0.221         0.760          6.941          0              90             0              93
  27  Apple           1.956          0.155          6.469          0              0              0              81
  28  Kettle          1.593          0.981          3.25           0              255.000        0              57
  29  Plate           1.490          0.141          2.159          0              0              0              46
  30  SaltShaker      1.322          0.135          2.498          0              0              0              69
  31  Lettuce         1.449          0.932          2.050          0              0              0              80
  32  SoapBottle      -0.552         0.144          0.658          0              90             0              65
  33  Spatula         1.582          1.007          0.440          0              0              0              57
  34  PaperTowelRoll  0.544          1.096          0.303          0              0              0              57
  35  Pot             1.559          0.988          4.294          0              0              0              55
  36  Potato          0.257          0.794          6.719          0              225            0              93
  37  ButterKnife     -0.621         0.760          6.416          0              270            0              93
  38  PepperShaker    -0.384         0.987          0.670          0              0              0              57
  39  Pan             1.32           0.988          3.848          0              0              0              56
  40  Tomato          -0.687         1.042          0.212          0              0              0              57
  41  DishSponge      0.260          0.771          0.618          0              0              0              54
  42  Cup             -0.221         0.756          6.787          0              0              0              93
  43  Spoon           -0.011         0.773          0.451          0              0              0              54
  44  Mug             0.273          1.092          0.245          0              0              0              73
  45  Cabinet         1.307          2.455          4.360          0              0              0
  46  Cabinet         1.054          0.422          1.710          0              0              0
  47  Drawer          1.280          0.808          4.718          0              0              0
  48  Cabinet         1.307          2.455          3.607          0              0              0
  49  Drawer          0.736          0.802          0.521          0              0              0
  50  Drawer          1.276          0.802          3.291          0              0              0
  51  StoveBurner     1.562          0.982          3.848          0              0              0
  52  StoveBurner     1.317          0.982          4.294          0              0              0
  53  Drawer          -0.482         0.802          0.521          0              0              0
  54  Drawer          0.124          0.802          0.521          0              0              0
  55  StoveBurner     1.559          0.982          4.294          0              0              0
  56  StoveBurner     1.320          0.982          3.848          0              0              0
  57  CounterTop      1.391          1.028          0.897          0              0              0
  58  CounterTop      1.391          1.028          4.716          0              0              0
  59  Cabinet         1.054          0.422          4.548          0              0              0
  60  Cabinet         1.317          2.134          0.517          0              0              0
  61  Cabinet         1.317          2.134          4.889          0              0              0
  62  Cabinet         1.317          2.134          3.095          0              0              0
  63  Cabinet         0.443          0.422          0.743          0              0              0
  64  Cabinet         1.270          2.134          0.434          0              0              0
  65  Cabinet         -0.775         0.422          0.743          0              0              0
  66  Cabinet         -0.168         0.422          0.743          0              0              0
  67  Cabinet         1.317          2.134          1.534          0              0              0
  68  Cabinet         1.054          0.422          2.990          0              0              0
  69  Cabinet         1.054          0.422          2.944          0              0              0
  70  Cabinet         -0.263         2.134          0.434          0              0              0
  71  Cabinet         0.252          2.134          0.434          0              0              0
  72  Sink            1.391          1.006          2.326          0              0              0
  73  Microwave       0.108          0.981          0.262          0              0              0
  74  HousePlant      -0.165         0.826          6.444          0              0              0
  75  CoffeeMachine   1.551          0.982          0.953          0              270            0
  76  Toaster         1.473          0.981          4.715          0              270            0
  77  Window          -2.065         1.916          3.626          90             90             0
  78  Window          1.763          2.007          2.299          90             270            0
  79  Fridge          2.035          0.0            5.625          0              0              0
  80  SinkBasin       1.387          0.880          2.338          0              90             0
  81  GarbageCan      2.001          -0.044         6.503          0              0              0
  82  StoveKnob       1.140          0.934          3.987          45             270            0
  83  StoveKnob       1.140          0.934          4.309          45             270            0
  84  StoveKnob       1.140          0.934          4.140          45             270            0
  85  StoveKnob       1.140          0.934          3.824          45             270            0
  86  Vase            -0.226         0.834          6.993          0              0              0
  87  Vase            2.098          0.043          7.070          0              257.232        0
  88  Vase            -0.594         0.835          6.130          0              225            0
  89  LightSwitch     -2.0           1.549          6.045          0              90             0
  90  Safe            2.046          1.072          7.054          0              257.232        0
  91  Faucet          1.534          1.025          2.371          0              294.391        0
  92  Blinds          1.738          2.563          2.312          0              90             0
  93  DiningTable     -0.156         0.000          6.474          0              0              0
  94  Chair           0.291          0.002          6.142          0              310.162        0
  95  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: Turn left, go forward, turn right at the stove, go forward | STEP 2: Open the bottom cupboard, take a glass, close the cupboard | STEP 3: Turn around, go a bit forward, turn left, go a bit forward, turn left in front of the microwave | STEP 4: Open the microwave, put the glass in it, close the microwave, start the microwave, open the microwave, get the glass, close the microwave | STEP 5: Turn around, go a bit forward, turn left, go a bit forward, turn left to reach the rightmost cupboard | STEP 6: Open the bottom cupboard, put the glass in the bottom shelf, close the cupboard | END