Task: Microwave a glass, put it in 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           1.75           0.900          1.75           0              90             0
   1  Fork            0.836          1.112          0.729          0              315            0              63
   2  Fork            0.307          0.748          -1.095         0              90             0              71
   3  Spatula         -1.418         0.864          -1.305         0              90             0              80
   4  Cup             -2.853         0.909          -0.062         0              0              0              62
   5  Cup             -1.591         0.848          -1.305         0              0              0              80
   6  Cup             -2.553         0.113          -0.107         0              0              0              51
   7  Plate           -1.602         1.664          -1.397         0              0              0              44
   8  Tomato          1.240          1.161          0.787          0              315            0              63
   9  Bowl            -1.102         1.661          -1.360         0              0              0              59
  10  PepperShaker    -2.438         0.907          -0.062         0              0              0              62
  11  PepperShaker    -0.137         1.108          1.555          0              315            0              63
  12  SaltShaker      -2.735         1.661          0.300          0              0              0              56
  13  SaltShaker      0.765          0.907          -0.948         0              0              0              70
  14  Bread           0.842          0.965          -1.199         0              0              0              70
  15  Bread           -2.800         1.528          1.013          0              90             0              82
  16  Mug             1.029          1.145          0.209          0              228.424        0              73
  17  Apple           0.241          1.060          -1.347         0              0              0              83
  18  Pan             -2.59          0.9            -1.147         0              0              0              70
  19  Apple           -1.332         0.901          -1.360         0              0              0              80
  20  Fork            -2.521         0.911          -0.062         0              0              0              62
  21  Kettle          -2.620         0.922          -0.724         0              0              0              61
  22  CreditCard      -1.987         0.743          -1.094         0              0              0              65
  23  Bread           -0.401         0.948          -1.291         0              0              0              70
  24  Plate           0.307          1.113          1.866          0              315            0              63
  25  SoapBottle      -0.165         1.112          1.718          0              315            0              63
  26  Spatula         -2.236         0.926          -0.948         0              0              0              70
  27  Lettuce         -2.660         0.874          0.983          31.046         0              0              82
  28  SaltShaker      0.032          1.108          1.940          0              315            0              63
  29  Tomato          0.817          1.161          1.056          0              315            0              63
  30  PepperShaker    -2.936         0.907          -0.147         0              0              0              62
  31  ButterKnife     -2.714         0.746          0.163          0              90             0              68
  32  Pot             -2.622         0.928          -0.396         0              0              0              64
  33  Potato          -0.598         0.933          -1.119         0              47.530         0              70
  34  DishSponge      -2.786         0.035          1.466          0              0              0              81
  35  Egg             0.136          1.136          1.274          0              0              0              63
  36  Spoon           -2.671         0.747          0.036          0              90             0              68
  37  Knife           0.060          1.106          1.587          270            209.997        0              63
  38  Cup             -1.159         0.850          -1.360         0              0              0              80
  39  Mug             -2.619         1.468          0.690          0              0              0              82
  40  Bowl            -2.740         0.377          0.690          0              90             0              82
  41  Cabinet         -2.647         2.075          -0.875         0              0              0
  42  Cabinet         -2.647         2.075          -0.234         0              0              0
  43  Cabinet         -0.824         0.469          -0.907         0              0              0
  44  Cabinet         -1.764         2.009          -1.197         0              0              0
  45  Cabinet         -1.834         2.009          -1.197         0              0              0
  46  Cabinet         -1.850         0.389          -0.897         0              0              0
  47  Cabinet         -1.801         0.469          -0.907         0              0              0
  48  Cabinet         1.115          2.009          -1.197         0              0              0
  49  Cabinet         0.235          2.009          -1.197         0              0              0
  50  Cabinet         1.125          0.470          -0.897         0              0              0
  51  Cabinet         -2.387         0.389          0.375          0              0              0
  52  Cabinet         0.484          0.389          -0.897         0              0              0
  53  Cabinet         -2.625         2.009          -1.197         0              0              0
  54  Cabinet         -2.647         2.009          -0.945         0              0              0
  55  Cabinet         -2.647         2.200          1.664          0              0              0
  56  Cabinet         -2.647         2.009          0.364          0              0              0
  57  Cabinet         0.164          2.009          -1.197         0              0              0
  58  Cabinet         -0.765         2.009          -1.197         0              0              0
  59  Cabinet         -0.834         2.009          -1.197         0              0              0
  60  Cabinet         -2.647         2.200          0.434          0              0              0
  61  StoveBurner     -2.622         0.886          -0.711         0              0              0
  62  CounterTop      -2.699         0.946          0.106          0              0              0
  63  CounterTop      0.908          1.147          0.788          0              315            0
  64  StoveBurner     -2.622         0.886          -0.396         0              0              0
  65  Drawer          -2.026         0.779          -1.082         0              0              0
  66  Sink            -1.328         0.916          -1.225         0              0              0
  67  StoveBurner     -2.822         0.886          -0.711         0              0              0
  68  Drawer          -2.572         0.779          0.099          0              0              0
  69  StoveBurner     -2.822         0.886          -0.396         0              0              0
  70  CounterTop      0.071          0.946          -1.199         0              0              0
  71  Drawer          0.254          0.779          -1.082         0              0              0
  72  LightSwitch     -1.167         1.307          3.0            0              180            0
  73  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  74  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  75  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  76  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  77  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  78  Window          0.321          1.449          3.088          90             0              0
  79  Toaster         -2.823         0.899          0.246          0              90             0
  80  SinkBasin       -1.344         0.838          -1.25          0              0              0
  81  GarbageCan      -2.757         1.886          1.466          0              0              0
  82  Fridge          -2.855         0.0            0.851          0              0              0
  83  Microwave       0.283          0.900          -1.331         0              0              0
  84  Stool           1.541          0.010          1.328          0              45             0
  85  Stool           0.983          0.010          1.793          0              47.459         0
  86  Faucet          -1.392         1.136          -1.399         0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn left, go to the wall, turn left, go towards the door, turn right, go to the sink | STEP 2: Pick up a glass from the sink | STEP 3: Turn left, go forward, turn right at the microwave | STEP 4: Put the glass in the microwave, start the microwave, wait, pick up the glass | STEP 5: Look upwards to the left cupboard | STEP 6: Open the cupboard on the left and put the glass in it, close the cupboard | END