Task: To heat a cup and place it in the sink.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          0.25           0              180            0
   1  Pan             -1.431         0.949          -1.81          0              0              0              85
   2  Pen             0.970          0.777          -0.665         0              90             0              66
   3  Pen             1.375          1.164          -1.688         0              0              0              81
   4  Ladle           -0.477         0.955          -1.448         0              0              0              75
   5  ButterKnife     -2.201         0.910          0.549          0              0              0              77
   6  ButterKnife     -1.957         0.910          0.291          0              0              0              77
   7  Glassbottle     -2.201         0.911          0.032          0              0              0              77
   8  Fork            -2.201         0.911          0.377          0              0              0              77
   9  Spatula         -1.835         0.925          0.204          0              90             0              77
  10  Egg             1.459          0.243          1.051          0              0              0              92
  11  Egg             0.183          0.948          -1.607         0              270            0              54
  12  Cup             -1.809         0.910          -1.793         0              0              0              73
  13  Plate           1.150          0.118          0.430          0              0              0              58
  14  Plate           1.093          0.115          -1.186         0              0              0              60
  15  Knife           0.936          0.804          0.485          0              270            0              52
  16  Knife           -2.193         0.940          -1.879         0              90             0              73
  17  Tomato          -1.886         0.950          -1.965         0              0              0              73
  18  PepperShaker    -1.860         0.111          -1.586         0              0              0              82
  19  Bread           -1.712         0.988          0.291          0              0              0              77
  20  Lettuce         0.927          0.980          -0.309         0              0              0              75
  21  Lettuce         -2.079         0.979          0.377          0              0              0              77
  22  Mug             1.070          0.957          -1.641         0              0              0              91
  23  Mug             -0.953         1.845          -1.839         0              0              0              55
  24  Apple           -1.962         0.945          -1.448         0              0              0              73
  25  Apple           -1.809         0.945          -1.448         0              0              0              73
  26  Tomato          1.453          1.760          2.026          0              270            0              94
  27  Glassbottle     -0.342         0.117          -1.683         0              0              0              61
  28  Knife           1.113          0.802          -1.068         0              270            0              53
  29  Plate           1.461          1.656          -1.185         0              0              0              67
  30  Fork            -2.039         0.911          -1.534         0              90             0              73
  31  Ladle           0.808          1.699          -1.839         0              0              0              64
  32  Potato          1.388          1.762          1.838          0              270            0              94
  33  Lettuce         1.414          1.231          -1.002         0              0              0              81
  34  Kettle          0.770          0.9            -1.836         0              0              0              75
  35  Pen             0.105          0.913          -1.395         0              0              0              54
  36  SaltShaker      -0.313         1.650          -1.876         0              0              0              57
  37  Cup             -0.406         0.117          -1.538         0              0              0              61
  38  Egg             0.115          0.948          -1.859         0              270            0              54
  39  Spatula         0.251          0.934          -1.808         0              90             0              54
  40  Bowl            1.376          1.368          2.226          0              270            0              94
  41  SprayBottle     1.459          0.213          1.137          0              0              0              92
  42  Pan             -1.081         0.949          -1.81          0              0              0              71
  43  SoapBottle      -1.957         0.910          0.463          0              0              0              77
  44  Pot             0.967          0.9            0.249          0              0              0              75
  45  ButterKnife     0.149          0.919          -1.758         0              270            0              54
  46  PepperShaker    -1.732         0.905          -1.965         0              0              0              73
  47  DishSponge      1.296          1.161          -0.659         0              0              0              81
  48  Bread           1.335          1.240          -1.345         0              0              0              81
  49  Apple           1.381          0.249          1.051          0              0              0              92
  50  Spoon           -0.344         0.774          -1.500         0              270            0              74
  51  Mug             1.527          1.362          1.850          0              0              0              94
  52  Drawer          0.860          0.75           0.430          0              0              0
  53  Drawer          0.871          0.75           -1.134         0              0              0
  54  Sink            0.156          0.817          -1.801         0              270            0
  55  Cabinet         -0.868         2.005          -1.690         0              0              0
  56  Cabinet         -1.661         2.059          -1.684         0              90             0
  57  Cabinet         -0.817         2.059          -1.689         0              0              0
  58  Cabinet         0.860          0.402          0.665          0              0              0
  59  Cabinet         0.860          0.402          -0.552         0              0              0
  60  Cabinet         0.860          0.402          -1.365         0              0              0
  61  Cabinet         -0.244         0.402          -1.389         0              0              0
  62  Cabinet         -0.815         0.402          -1.389         0              0              0
  63  Cabinet         1.159          2.059          -0.334         0              0              0
  64  Cabinet         0.488          2.059          -1.689         0              0              0
  65  Cabinet         -0.193         2.059          -1.689         0              0              0
  66  Drawer          0.860          0.75           -0.699         0              0              0
  67  Cabinet         1.159          2.059          -1.019         0              0              0
  68  Cabinet         -1.611         2.005          -1.690         0              0              0
  69  Cabinet         0.832          0.401          -1.393         0              90             0
  70  Drawer          -2.105         0.75           -1.389         0              0              0
  71  StoveBurner     -1.081         0.941          -1.809         0              0              0
  72  Cabinet         -0.202         0.401          -1.391         0              90             0
  73  CounterTop      -1.973         0.945          -1.707         0              0              0
  74  Drawer          -0.375         0.75           -1.389         0              0              0
  75  CounterTop      1.164          0.946          -0.649         0              0              0
  76  StoveBurner     -1.081         0.941          -1.527         0              0              0
  77  CounterTop      -2.096         0.945          0.291          0              0              0
  78  Cabinet         -2.237         0.402          -1.389         0              0              0
  79  Drawer          0.584          0.75           -1.389         0              0              0
  80  Drawer          -1.795         0.75           -1.389         0              0              0
  81  CounterTop      1.5            1.197          -0.654         0              0              0
  82  Cabinet         -1.667         0.402          -1.389         0              0              0
  83  StoveBurner     -1.430         0.941          -1.525         0              0              0
  84  Drawer          -0.685         0.75           -1.389         0              0              0
  85  StoveBurner     -1.430         0.941          -1.809         0              0              0
  86  LightSwitch     -2.539         1.289          2.568          0              90             0
  87  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  88  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  89  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  90  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  91  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  92  GarbageCan      1.343          0.015          1.041          0              0              0
  93  HousePlant      1.440          1.153          0.593          0              0              0
  94  Fridge          1.417          0.0            2.101          0              0              0
  95  Window          -0.486         1.452          3.302          90             0              0
  96  SinkBasin       -0.063         0.765          -1.713         0              270            0
  97  Microwave       1.422          1.150          0.022          0              270            0
  98  Toaster         -2.066         0.900          -1.848         0              0              0
  99  Stool           -1.994         0.010          0.882          0              0              0
 100  Faucet          -0.096         1.041          -1.867         0              270            0
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: Turn right and walk across the room to face the counter to the right of the sink. | STEP 2: Pick up the cup in the cabinet under the ladle. | STEP 3: Turn to the left and walk forward to face the microwave above the stove. | STEP 4: Heat the cup in the microwave and remove it. | STEP 5: Turn to the right and walk over to face the sink. | STEP 6: Place the cup in the right side of the sink. | END