Task: Move a goblet on the shelf to the microwave oven then into 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           -1.5           0.900          1.0            0              180            0
   1  Potato          -0.598         0.933          -1.119         0              47.530         0              69
   2  DishSponge      -0.344         0.910          -1.365         0              0              0              69
   3  DishSponge      -2.540         0.910          -1.365         0              0              0              69
   4  Spoon           -2.585         0.747          0.163          0              0              0              67
   5  Spoon           0.610          0.912          -1.282         0              90             0              69
   6  Fork            -1.910         0.747          -1.094         0              90             0              64
   7  Plate           0.997          0.913          -1.199         0              0              0              69
   8  Egg             -2.699         0.071          1.571          0              0              0              80
   9  Egg             -2.757         0.071          1.571          0              0              0              80
  10  Tomato          0.548          1.161          1.479          0              315            0              62
  11  Bowl            -2.860         0.377          0.690          0              90             0              81
  12  Bowl            -1.569         0.116          -1.068         0              0              0              46
  13  PepperShaker    -1.115         0.113          -1.068         0              0              0              42
  14  PepperShaker    -0.063         1.108          1.868          0              315            0              62
  15  SaltShaker      -0.657         1.658          -1.322         0              0              0              57
  16  Mug             0.241          1.004          -1.381         0              0              0              82
  17  Mug             -2.438         0.906          -0.062         0              270            0              61
  18  Pan             -2.59          0.9            -1.147         0              0              0              69
  19  Apple           0.284          1.154          1.580          0              0              0              62
  20  Fork            -1.505         0.852          -1.305         0              90             0              79
  21  Kettle          -2.620         0.922          -0.724         0              0              0              60
  22  CreditCard      0.997          0.9            -0.982         0              334.941        0              69
  23  Bread           -2.740         1.528          0.932          0              90             0              81
  24  Plate           -2.236         0.913          -1.199         0              0              0              69
  25  SoapBottle      -0.748         0.899          -1.291         0              315            0              69
  26  Spatula         -2.552         0.922          0.010          0              0              0              61
  27  Lettuce         -2.660         0.874          0.983          31.046         0              0              81
  28  SaltShaker      -0.998         0.113          -0.994         0              0              0              42
  29  Tomato          -2.728         0.087          1.431          0              0              0              80
  30  PepperShaker    -0.146         1.108          1.413          0              315            0              62
  31  ButterKnife     -2.222         0.9            -0.997         0              323.977        0              69
  32  Pot             -2.823         0.928          -0.396         0              0              0              68
  33  DishSponge      -1.418         0.851          -1.25          0              0              0              79
  34  Egg             0.346          1.044          -1.248         0              0              0              82
  35  Spoon           0.920          0.912          -0.948         0              0              0              69
  36  Knife           0.060          1.106          1.587          270            209.997        0              62
  37  Cup             -1.119         0.841          -1.241         0              0              0              79
  38  Mug             0.398          1.000          -1.414         0              90             0              82
  39  Bowl            -2.860         0.818          0.771          0              90             0              81
  40  Cabinet         -2.647         2.075          -0.875         0              0              0
  41  Cabinet         -2.647         2.075          -0.234         0              0              0
  42  Cabinet         -0.824         0.469          -0.907         0              0              0
  43  Cabinet         -1.764         2.009          -1.197         0              0              0
  44  Cabinet         -1.834         2.009          -1.197         0              0              0
  45  Cabinet         -1.850         0.389          -0.897         0              0              0
  46  Cabinet         -1.801         0.469          -0.907         0              0              0
  47  Cabinet         1.115          2.009          -1.197         0              0              0
  48  Cabinet         0.235          2.009          -1.197         0              0              0
  49  Cabinet         1.125          0.470          -0.897         0              0              0
  50  Cabinet         -2.387         0.389          0.375          0              0              0
  51  Cabinet         0.484          0.389          -0.897         0              0              0
  52  Cabinet         -2.625         2.009          -1.197         0              0              0
  53  Cabinet         -2.647         2.009          -0.945         0              0              0
  54  Cabinet         -2.647         2.200          1.664          0              0              0
  55  Cabinet         -2.647         2.009          0.364          0              0              0
  56  Cabinet         0.164          2.009          -1.197         0              0              0
  57  Cabinet         -0.765         2.009          -1.197         0              0              0
  58  Cabinet         -0.834         2.009          -1.197         0              0              0
  59  Cabinet         -2.647         2.200          0.434          0              0              0
  60  StoveBurner     -2.622         0.886          -0.711         0              0              0
  61  CounterTop      -2.699         0.946          0.106          0              0              0
  62  CounterTop      0.908          1.147          0.788          0              315            0
  63  StoveBurner     -2.622         0.886          -0.396         0              0              0
  64  Drawer          -2.026         0.779          -1.082         0              0              0
  65  Sink            -1.328         0.916          -1.225         0              0              0
  66  StoveBurner     -2.822         0.886          -0.711         0              0              0
  67  Drawer          -2.572         0.779          0.099          0              0              0
  68  StoveBurner     -2.822         0.886          -0.396         0              0              0
  69  CounterTop      0.071          0.946          -1.199         0              0              0
  70  Drawer          0.254          0.779          -1.082         0              0              0
  71  LightSwitch     -1.167         1.307          3.0            0              180            0
  72  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  73  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  74  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  75  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  76  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  77  Window          0.321          1.449          3.088          90             0              0
  78  Toaster         -2.823         0.899          0.246          0              90             0
  79  SinkBasin       -1.344         0.838          -1.25          0              0              0
  80  GarbageCan      -2.757         1.886          1.466          0              0              0
  81  Fridge          -2.855         0.0            0.851          0              0              0
  82  Microwave       0.283          0.900          -1.331         0              0              0
  83  Stool           1.541          0.010          1.328          0              45             0
  84  Stool           0.983          0.010          1.793          0              47.459         0
  85  Faucet          -1.392         1.136          -1.399         0              270            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Walk to the left side of the sink. | STEP 2: Pick up the brown goblet in the sink. | STEP 3: Turn to your left and walk to the microwave oven. | STEP 4: Open the microwave door and place the goblet on the plate in the microwave to the right of the egg, close the microwave door, turn the oven on and when it is done cooking, open the microwave door and pick up the goblet. | STEP 5: Look up to the cupboard above the microwave oven and open the door of the left cupboard. | STEP 6: Place the goblet at the right front of the cupboard and close the cupboard door. | END