Task: place a microwaved cup inside the kitchen cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.5            0.930          -0.25          0              90             0
   1  Potato          2.987          0.785          0.098          0              90             0              108
   2  Ladle           -0.868         0.555          1.605          0              0              0              51
   3  ButterKnife     -0.868         0.518          0.576          0              0              0              60
   4  Glassbottle     0.772          0.908          0.093          0              36.810         0              94
   5  Glassbottle     0.904          1.675          -1.341         0              0              0              78
   6  Spatula         -0.789         0.915          0.176          0              90             0              63
   7  Spatula         3.373          0.915          -0.023         0              90             0              62
   8  CellPhone       -0.909         0.704          0.076          0              0              0              70
   9  Mug             3.179          1.259          -0.917         0              0              0              77
  10  Apple           -0.849         0.974          -0.982         0              45             0              63
  11  Lettuce         -0.717         0.965          -0.494         0              0              0              63
  12  Lettuce         0.054          0.965          -1.481         0              45             0              84
  13  SaltShaker      1.208          1.671          -1.619         0              0              0              54
  14  PepperShaker    -0.659         0.130          -0.681         0              45             0              83
  15  Bowl            0.760          1.671          -1.689         0              0              0              78
  16  SoapBottle      -1.014         1.267          -0.815         0              45             0              82
  17  Tomato          3.355          0.937          -0.300         0              0              0              62
  18  Egg             3.128          0.153          1.707          0              225            0              104
  19  Egg             3.277          0.953          -0.897         0              0              0              62
  20  Plate           3.031          1.477          -1.235         0              0              0              77
  21  Plate           0.798          0.921          0.627          0              0              0              94
  22  Knife           -0.991         0.732          0.489          0              90             0              67
  23  Knife           0.533          0.933          0.827          0              180            0              94
  24  Plate           0.967          0.921          0.322          0              0              0              94
  25  Glassbottle     0.494          0.911          0.301          0              36.810         0              94
  26  SoapBottle      -0.028         0.909          -1.193         0              45             0              84
  27  Potato          2.987          0.785          -0.100         0              90             0              108
  28  Fork            -0.991         0.518          1.255          0              90             0              51
  29  Ladle           -0.991         0.168          0.489          0              90             0              93
  30  Pot             -0.420         0.902          -0.920         0              135            0              58
  31  Kettle          -1.008         0.901          0.623          0              0              0              63
  32  Spatula         -0.007         0.915          -1.728         0              135            0              84
  33  Knife           1.229          0.933          0.889          0              180            0              94
  34  Lettuce         -1.008         0.965          0.399          0              0              0              63
  35  Cup             0.773          0.709          -1.433         0              0              0              109
  36  SaltShaker      -0.658         0.514          -0.633         0              45             0              86
  37  Egg             2.888          0.953          -0.599         0              0              0              62
  38  PepperShaker    3.146          1.260          -0.790         0              0              0              76
  39  ButterKnife     -0.868         0.326          -0.011         0              0              0              68
  40  Apple           -1.018         1.071          1.258          0              90             0              111
  41  Pan             0.341          0.873          -1.649         0              167.065        0              84
  42  Bread           -0.862         0.979          0.846          0              0              0              63
  43  CellPhone       -0.827         0.515          -0.186         0              0              0              90
  44  DishSponge      -0.228         1.263          -1.506         0              45             0              80
  45  Tomato          0.710          0.947          0.426          0              0              0              94
  46  Spoon           3.277          0.901          -0.499         0              0              0              62
  47  Bowl            3.044          1.461          -1.697         0              0              0              61
  48  Mug             1.112          1.669          -1.759         0              0              0              54
  49  Drawer          0.376          0.572          -1.509         0              0              0
  50  Drawer          3.020          0.769          -0.783         0              180            0
  51  Drawer          -0.860         0.577          1.429          0              0              0
  52  StoveBurner     -0.600         0.897          -1.090         0              135            0
  53  Drawer          0.376          0.191          -1.509         0              0              0
  54  Cabinet         1.402          1.874          -1.259         0              0              0
  55  Cabinet         -0.202         1.963          -1.328         0              0              0
  56  Drawer          -0.860         0.765          1.429          0              0              0
  57  Drawer          -0.677         0.765          -0.700         0              0              0
  58  StoveBurner     -0.420         0.897          -0.920         0              135            0
  59  Drawer          3.020          0.769          -0.407         0              180            0
  60  Drawer          -0.860         0.577          0.663          0              0              0
  61  Cabinet         2.819          1.768          -1.850         0              0              0
  62  CounterTop      3.111          0.936          0.019          0              0              0
  63  CounterTop      -1.007         0.935          -0.039         0              0              0
  64  Drawer          -0.860         0.385          0.663          0              0              0
  65  StoveBurner     -0.419         0.897          -1.269         0              315            0
  66  Drawer          -0.047         0.573          -1.324         0              0              0
  67  Drawer          -0.860         0.765          0.663          0              0              0
  68  Drawer          -0.860         0.385          -0.100         0              0              0
  69  Drawer          0.376          0.380          -1.509         0              0              0
  70  Drawer          -0.860         0.765          -0.100         0              0              0
  71  Drawer          0.376          0.765          -1.509         0              0              0
  72  Cabinet         2.849          0.419          0.409          0              0              0
  73  Drawer          -0.047         0.765          -1.324         0              0              0
  74  Cabinet         2.849          0.419          -0.610         0              0              0
  75  Cabinet         2.849          0.419          -0.959         0              0              0
  76  Cabinet         3.069          1.666          -0.709         0              0              0
  77  Cabinet         2.819          1.768          -1.047         0              0              0
  78  Cabinet         0.620          1.874          -1.259         0              0              0
  79  Cabinet         0.140          1.666          -1.559         0              0              0
  80  Cabinet         -0.189         1.666          -1.340         0              0              0
  81  Cabinet         -0.709         1.963          -0.819         0              0              0
  82  Cabinet         -0.920         1.665          -0.620         0              0              0
  83  Drawer          -0.860         0.190          -0.100         0              0              0
  84  CounterTop      0.133          0.935          -1.457         0              0              0
  85  Drawer          3.020          0.769          0.695          0              180            0
  86  Drawer          -0.677         0.577          -0.700         0              0              0
  87  Drawer          -0.860         0.190          1.429          0              0              0
  88  Drawer          -0.047         0.192          -1.324         0              0              0
  89  Drawer          -0.677         0.193          -0.700         0              0              0
  90  Drawer          -0.860         0.577          -0.100         0              0              0
  91  Sink            3.078          0.887          0.086          0              0              0
  92  StoveBurner     -0.239         0.897          -1.089         0              315            0
  93  Drawer          -0.860         0.190          0.663          0              0              0
  94  CounterTop      1.210          0.937          0.463          0              0              0
  95  Drawer          -0.047         0.381          -1.324         0              0              0
  96  Drawer          -0.677         0.387          -0.700         0              0              0
  97  Mirror          -1.295         1.630          0.045          0              0              0
  98  Drawer          -0.860         0.385          1.429          0              0              0
  99  HousePlant      3.196          0.891          -0.368         0              0              0
 100  StoveKnob       -0.090         0.790          -1.009         270            45             0
 101  StoveKnob       -0.280         0.790          -0.819         270            45             0
 102  StoveKnob       -0.180         0.790          -0.920         270            45             0
 103  StoveKnob       -0.370         0.790          -0.720         270            45             0
 104  GarbageCan      3.137          0.025          1.545          0              225            0
 105  Window          3.703          1.675          0.046          90             90             0
 106  CoffeeMachine   3.214          0.890          0.697          0              270            0
 107  LightSwitch     2.592          1.309          -1.880         0              0              0
 108  SinkBasin       3.069          0.736          0.108          0              90             0
 109  Fridge          1.008          0.029          -1.467         0              0              0
 110  Toaster         -1.035         0.873          -0.396         0              90             0
 111  Microwave       -1.034         0.874          1.428          0              90             0
 112  Faucet          3.305          0.886          0.094          270            180            0
 113  NorthWall
 114  EastWall
 115  SouthWall
 116  WestWall

Plan:
STEP 1: move to the right a bit to face the end of the right side of the kitchen counter | STEP 2: grab the back cup out of the cabinet above the kitchen counter | STEP 3: turn around and walk to the end of the room, then turn right and walk to the other end of the room where the microwave is on the left | STEP 4: place the cup inside of the microwave, cook the cup for a bit, and then take it back out | STEP 5: turn left and walk forwards to the end of the kitchen counter at the end of the room, then turn right and look up at the cabinets to the left | STEP 6: place the cup inside the cabinets above the kitchen counter to the left | END