Task: put a glass inside the microwave

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          0.5            0              0              0
   1  Statue          0.079          1.110          -0.001         0              0              0              65
   2  Statue          -0.059         1.110          -0.759         0              90             0              65
   3  Potato          -1.999         0.257          1.334          0              90             0              98
   4  Potato          -2.163         0.570          0.837          0              90             0              98
   5  CreditCard      1.996          0.550          -2.614         0              180            0              95
   6  CreditCard      1.685          0.550          -2.614         0              180            0              95
   7  Plate           -2.081         1.499          1.092          0              90             0              98
   8  Cup             0.951          1.658          -2.600         0              0              0              87
   9  Tomato          -1.693         0.950          -2.036         0              0              0              90
  10  Tomato          -1.611         0.950          -2.366         0              0              0              90
  11  SoapBottle      -2.100         0.912          0.230          0              0              0              90
  12  SoapBottle      -0.816         0.137          -2.453         0              0              0              83
  13  SaltShaker      0.969          0.907          -2.330         0              0              0              67
  14  SaltShaker      -1.104         0.133          -2.503         0              0              0              83
  15  Lettuce         1.098          0.990          -2.484         0              0              0              67
  16  Apple           -1.997         0.591          0.837          0              90             0              98
  17  Apple           -2.018         0.820          -1.760         0              90             0              100
  18  Fork            -1.784         0.794          -0.054         0              180            0              64
  19  Fork            0.893          0.481          -2.331         0              0              0              73
  20  Spoon           0.355          1.112          -0.506         0              0              0              65
  21  Spoon           -1.797         0.770          -1.760         0              0              0              100
  22  Mug             -1.296         0.132          -2.453         0              0              0              83
  23  Pot             -0.465         0.950          -2.372         0              90             0              63
  24  ButterKnife     -1.908         0.769          -1.587         0              90             0              100
  25  Kettle          -0.036         0.950          -2.372         0              270            0              60
  26  Glassbottle     0.453          0.911          -2.714         0              0              0              67
  27  Glassbottle     0.506          0.141          -2.288         0              0              0              82
  28  DishSponge      0.893          0.776          -2.420         0              0              0              61
  29  Bowl            -0.122         1.787          -2.546         0              0              0              91
  30  Book            0.155          1.1            0.617          0              315            0              65
  31  Glassbottle     -1.907         0.048          1.933          0              270            0              96
  32  Knife           -1.290         0.936          -2.329         0              0              0              90
  33  Bread           -0.473         1.184          -0.759         0              0              0              65
  34  Fork            0.582          0.911          -2.253         0              0              0              67
  35  Potato          -1.856         0.941          -2.695         0              180            0              90
  36  SoapBottle      0.969          0.911          -2.560         0              0              0              67
  37  Kettle          -0.197         1.112          0.757          0              0              0              65
  38  Pan             -2.078         0.798          1.085          0              0              0              98
  39  Plate           -0.848         0.908          -2.637         0              0              0              90
  40  Tomato          -1.797         0.808          -1.242         0              90             0              100
  41  Vase            0.711          0.912          -2.484         0              0              0              67
  42  Egg             -2.018         0.804          -1.328         0              90             0              100
  43  CreditCard      1.789          0.877          -2.536         0              180            0              92
  44  Statue          1.955          0.168          -2.543         0              0              0              97
  45  WineBottle      1.063          1.661          -2.600         0              0              0              87
  46  Pot             -1.219         0.9            -2.356         0              0              0              90
  47  Spatula         0.969          0.925          -2.330         0              0              0              67
  48  PaperTowelRoll  -1.989         0.152          2.172          0              270            0              96
  49  Cup             -0.059         1.109          -0.253         0              0              0              65
  50  Vase            0.453          0.908          -2.407         0              0              0              67
  51  Bowl            -1.797         0.766          -1.501         0              90             0              100
  52  SaltShaker      1.008          0.311          -2.479         0              0              0              69
  53  PepperShaker    -0.059         1.107          0.251          0              0              0              65
  54  Lettuce         -0.335         1.191          0.504          0              0              0              65
  55  ButterKnife     -0.059         1.111          -0.506         0              0              0              65
  56  Apple           -0.335         1.162          -0.253         0              0              0              65
  57  DishSponge      -1.963         0.769          -1.414         0              90             0              100
  58  Spoon           -1.781         0.479          -0.148         0              90             0              80
  59  Mug             -0.840         1.651          -2.640         0              0              0              79
  60  StoveBurner     -0.036         0.915          -2.372         0              0              0
  61  Drawer          0.949          0.832          -2.197         0              0              0
  62  Drawer          -1.560         0.839          0.204          0              90             0
  63  StoveBurner     -0.465         0.915          -2.371         0              180            0
  64  Drawer          -1.560         0.839          -0.197         0              90             0
  65  CounterTop      -0.079         1.147          -0.001         0              0              0
  66  Cabinet         -1.549         0.494          -1.964         0              90             0
  67  CounterTop      0.693          0.946          -2.483         0              0              0
  68  StoveBurner     -0.036         0.915          -2.576         0              0              0
  69  Drawer          0.949          0.393          -2.200         0              0              0
  70  Drawer          0.949          0.708          -2.200         0              0              0
  71  Cabinet         -1.549         0.494          0.379          0              90             0
  72  StoveKnob       -0.022         0.881          -2.187         45             0              0
  73  Drawer          0.949          0.560          -2.201         0              0              0
  74  StoveBurner     -0.465         0.915          -2.575         0              180            0
  75  Window          -2.230         1.429          -1.203         0              0              0
  76  StoveKnob       -0.483         0.881          -2.187         45             0              0
  77  Sink            -1.899         0.964          -1.5           0              90             0
  78  StoveKnob       -0.328         0.881          -2.187         45             0              0
  79  Cabinet         -0.727         2.015          -2.460         0              0              0
  80  Drawer          -1.560         0.655          -0.196         0              90             0
  81  Cabinet         -1.685         2.015          -2.461         0              0              0
  82  Cabinet         0.680          0.494          -2.200         0              0              0
  83  Cabinet         -1.179         0.494          -2.200         0              0              0
  84  Cabinet         -1.849         2.015          0.379          0              90             0
  85  Drawer          0.949          0.221          -2.200         0              0              0
  86  StoveKnob       -0.183         0.881          -2.187         45             0              0
  87  Cabinet         0.719          2.015          -2.460         0              0              0
  88  Drawer          -1.560         0.331          -0.196         0              90             0
  89  Cabinet         0.680          2.015          -2.460         0              0              0
  90  CounterTop      -1.868         0.946          -1.205         0              0              0
  91  Microwave       -0.236         1.689          -2.525         0              0              0
  92  Shelf           1.751          0.880          -2.560         0              0              0
  93  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  94  Toaster         -1.835         0.900          0.134          0              90             0
  95  Shelf           1.750          0.552          -2.559         0              0              0
  96  GarbageCan      -1.935         -0.002         2.029          0              270            0
  97  Shelf           1.750          0.172          -2.559         0              0              0
  98  Fridge          -2.096         0.0            1.088          0              0              0
  99  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
 100  SinkBasin       -1.908         0.759          -1.488         0              90             0
 101  LightSwitch     2.329          1.309          -0.159         0              270            0
 102  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 103  Stool           0.702          0.000          -0.514         1.202          65.108         0
 104  Stool           0.743          0.000          0.563          1.227          106.706        0
 105  Faucet          -2.070         1.132          -1.514         0              0              0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: turn around to the left go right go forward towards the cabinets | STEP 2: get a glass cup from the top cabinet  | STEP 3: turn around to the right go left towards the sink | STEP 4: put the glass inside the sink rinse it off  | STEP 5: turn around to the left go right towards the microwave | STEP 6: put the glass inside the microwave | END