Task: Place a warmed cup from the table into the cabinet beneath 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           0.901          -1.25          0              90             0
   1  Potato          -0.447         0.957          -3.952         0              0              0              40
   2  Potato          -2.439         0.760          -0.433         0              270            0              84
   3  Spatula         -3.225         0.928          -2.825         0              0              0              40
   4  Spatula         -3.111         0.761          -2.857         0              270            0              62
   5  Spoon           -2.723         0.718          -0.433         0              180            0              84
   6  Fork            -3.024         0.747          -2.857         0              270            0              62
   7  Egg             -2.652         0.749          -0.886         0              135            0              84
   8  Egg             -3.286         0.677          -2.002         0              90             0              81
   9  Cup             -2.664         0.717          -0.294         0              225            0              84
  10  SoapBottle      -3.140         0.913          -2.926         0              0              0              40
  11  PepperShaker    -3.292         0.713          -0.308         0              270            0              84
  12  PepperShaker    -0.014         0.912          -0.507         0              0              0              67
  13  Lettuce         -3.182         1.486          -2.064         0              90             0              81
  14  Bread           -2.990         0.754          -0.780         0              0              0              84
  15  Mug             -0.093         1.289          -1.428         0              0              0              46
  16  Mug             -2.475         0.708          -0.709         0              135            0              84
  17  Apple           -0.096         1.055          -0.752         0              270            0              77
  18  Apple           -0.127         1.055          -0.851         0              270            0              77
  19  Pot             -0.376         0.975          -2.451         0              0              0              65
  20  Egg             -3.234         1.049          -1.941         0              90             0              81
  21  Cup             -3.150         0.717          -0.620         0              270            0              84
  22  Bread           -2.576         0.754          -0.608         0              135            0              84
  23  Fork            -2.740         0.717          -0.496         0              0              0              84
  24  Pan             -0.165         0.975          -2.030         0              180            0              71
  25  Potato          -0.419         0.959          -1.493         0              0              0              67
  26  Lettuce         -0.076         1.001          -3.012         0              0              0              40
  27  Tomato          -0.243         0.963          -3.804         0              0              0              40
  28  Apple           -0.257         0.958          -1.370         0              0              0              67
  29  SoapBottle      -3.150         0.713          -0.495         0              270            0              84
  30  Spatula         -0.412         0.761          -3.079         0              90             0              70
  31  SaltShaker      -2.797         0.710          -0.162         0              225            0              84
  32  Knife           -0.530         0.779          -1.253         0              270            0              63
  33  PepperShaker    -0.500         0.743          -1.563         0              0              0              63
  34  ButterKnife     -3.309         0.913          -3.026         0              0              0              40
  35  Plate           -1.845         0.788          -3.704         0              0              0              82
  36  DishSponge      -0.441         0.745          -0.988         0              0              0              66
  37  Spoon           -2.803         0.718          -0.922         0              0              0              84
  38  Mug             -2.930         0.762          -0.358         0              135            0              80
  39  Bowl            -0.095         0.913          -1.616         0              0              0              67
  40  CounterTop      -1.789         0.949          -3.803         0              0              0
  41  Cabinet         -0.577         0.388          -3.476         0              0              0
  42  Cabinet         -0.605         0.388          -3.511         0              0              0
  43  Cabinet         -2.976         0.388          -3.201         0              0              0
  44  Cabinet         -0.577         0.388          -0.447         0              0              0
  45  Cabinet         -0.577         0.388          -1.725         0              0              0
  46  Cabinet         -0.226         1.803          -1.743         0              0              0
  47  Cabinet         -0.228         1.799          -0.447         0              0              0
  48  Cabinet         -6.010         1.139          -6.019         0              0              0
  49  Cabinet         -3.022         2.098          -2.681         0              0              0
  50  Cabinet         -3.022         2.098          -1.743         0              0              0
  51  Cabinet         -0.577         0.388          -2.736         0              0              0
  52  Cabinet         -3.232         1.803          -3.343         0              0              0
  53  Cabinet         -2.811         1.810          -3.764         0              0              0
  54  Cabinet         -1.233         1.810          -3.764         0              0              0
  55  Cabinet         -1.364         0.388          -3.511         0              0              0
  56  Cabinet         -1.380         0.388          -3.511         0              0              0
  57  Cabinet         -0.226         1.803          -2.725         0              0              0
  58  Cabinet         -0.236         2.098          -1.767         0              0              0
  59  Cabinet         -0.236         2.098          -2.705         0              0              0
  60  Cabinet         -0.193         1.210          -4.239         0              0              0
  61  Cabinet         -2.148         0.388          -3.511         0              0              0
  62  Drawer          -3.104         0.797          -2.968         0              0              0
  63  Drawer          -0.449         0.797          -1.410         0              0              0
  64  Sink            -1.786         0.902          -3.748         0              0              0
  65  StoveBurner     -0.376         0.936          -2.451         0              0              0
  66  Drawer          -0.449         0.797          -0.762         0              0              0
  67  CounterTop      -0.268         0.951          -1.089         0              0              0
  68  Drawer          -0.449         0.797          -3.348         0              0              0
  69  StoveBurner     -0.376         0.936          -2.031         0              180            0
  70  Drawer          -0.449         0.797          -2.968         0              0              0
  71  StoveBurner     -0.165         0.936          -2.030         0              180            0
  72  StoveBurner     -0.165         0.936          -2.450         0              0              0
  73  StoveKnob       -0.568         0.903          -2.313         45             270            0
  74  StoveKnob       -0.568         0.903          -2.470         45             270            0
  75  StoveKnob       -0.568         0.903          -2.166         45             270            0
  76  StoveKnob       -0.568         0.903          -2.003         45             270            0
  77  Microwave       -0.143         0.903          -0.908         0              270            0
  78  LightSwitch     -1.108         1.457          0.338          0              180            0
  79  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  80  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  81  Fridge          -3.188         0.0            -2.184         0              0              0
  82  SinkBasin       -1.786         0.779          -3.747         0              0              0
  83  Toaster         -0.230         0.903          -3.406         0              270            0
  84  DiningTable     -2.800         0.003          -0.505         0              0              0
  85  Chair           -3.044         0.003          -1.223         0              32.194         0
  86  Faucet          -1.791         1.136          -3.913         0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn around towards the circle table. | STEP 2: Pick up the coffee cup in front of the bread on the table. | STEP 3: Turn around and walk towards the microwave. | STEP 4: Place the cup inside the microwave, heat it up, and take it back out. | STEP 5: Take a step backwards to look at the right cabinet beneath the microwave. | STEP 6: Place the cup in the cabinet and close the door. | END