Task: Putting a clean glass in 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           0.75           0.900          1.5            0              180            0
   1  Pan             -0.036         0.950          -2.576         0              270            0              60
   2  Potato          0.324          0.941          -2.253         0              0              0              59
   3  Cup             -2.070         1.301          1.343          0              90             0              90
   4  Cup             0.324          0.908          -2.637         0              0              0              59
   5  Egg             0.582          0.945          -2.560         0              0              0              59
   6  Tomato          -1.999         0.265          0.920          0              90             0              90
   7  Tomato          -1.907         0.087          2.029          0              270            0              88
   8  SoapBottle      1.119          1.661          -2.527         0              0              0              79
   9  SaltShaker      2.096          0.877          -2.617         0              180            0              84
  10  SaltShaker      1.098          0.907          -2.330         0              0              0              59
  11  PepperShaker    0.893          0.311          -2.431         0              0              0              61
  12  Lettuce         0.217          1.191          -0.001         0              0              0              57
  13  Lettuce         -0.335         1.191          0.757          0              0              0              57
  14  Spoon           -1.852         0.770          -1.414         0              180            0              92
  15  Spatula         -1.852         0.784          -1.760         0              90             0              92
  16  Pot             -0.465         0.950          -2.576         0              90             0              66
  17  ButterKnife     -1.963         0.769          -1.328         0              270            0              92
  18  ButterKnife     0.582          0.910          -2.407         0              0              0              59
  19  WineBottle      -1.567         1.659          -2.604         0              0              0              73
  20  WineBottle      0.840          0.911          -2.560         0              0              0              59
  21  DishSponge      1.064          0.142          -2.286         0              0              0              77
  22  Book            0.155          1.1            0.617          0              315            0              57
  23  Glassbottle     -0.335         1.112          -0.001         0              0              0              57
  24  Knife           -1.143         0.936          -2.329         0              0              0              82
  25  Bread           1.098          0.983          -2.637         0              0              0              59
  26  Fork            -1.739         0.794          0.111          0              180            0              54
  27  Potato          -2.080         0.570          1.251          0              90             0              90
  28  SoapBottle      -1.962         0.048          1.885          0              270            0              88
  29  Kettle          1.582          0.554          -2.562         0              180            0              87
  30  Pan             -2.026         1.305          1.092          0              0              0              90
  31  Plate           -1.705         0.133          -1.389         0              90             0              58
  32  Tomato          0.840          0.949          -2.714         0              0              0              59
  33  Vase            2.042          0.540          -2.495         0              0              0              87
  34  Egg             -0.328         1.825          -2.610         0              0              0              83
  35  CreditCard      -1.609         0.151          -0.101         0              90             0              80
  36  Statue          1.955          0.168          -2.543         0              0              0              89
  37  WineBottle      -0.059         1.112          -0.001         0              0              0              57
  38  Pot             -0.059         1.115          0.251          0              0              0              57
  39  Spatula         -1.653         0.168          -0.245         0              0              0              80
  40  PaperTowelRoll  0.079          1.215          -0.253         0              0              0              57
  41  Cup             -0.122         1.788          -2.546         0              0              0              83
  42  Vase            -0.955         1.653          -2.604         0              0              0              71
  43  Bowl            -1.765         0.126          0.158          0              90             0              63
  44  SaltShaker      -1.438         0.907          -2.560         0              0              0              82
  45  PepperShaker    1.891          0.877          -2.590         0              180            0              84
  46  Lettuce         -0.995         0.991          -2.406         0              0              0              82
  47  ButterKnife     -1.937         0.911          -2.146         0              0              0              82
  48  Apple           -1.852         0.820          -1.328         0              90             0              92
  49  DishSponge      -1.962         0.047          2.124          0              270            0              88
  50  Spoon           -1.739         0.795          0.243          0              90             0              54
  51  Mug             -1.401         1.653          -2.641         0              0              0              73
  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: Go to the microwave | STEP 2: Grab the glass out of the microwave | STEP 3: Turn right and go to the sink | STEP 4: Wash the glass in the sink and then take it out | STEP 5: Turn around and go to the microwave | STEP 6: Put the glass in the microwave | END