Task: Put a heated cup in a cabinet.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          1.0            0              0              0
   1  DishSponge      -2.538         0.910          0.931          0              0              0              73
   2  DishSponge      1.342          0.910          -0.726         0              0              0              55
   3  ButterKnife     -0.341         0.910          0.423          0              0              0              45
   4  ButterKnife     -2.289         0.910          1.830          0              0              0              73
   5  Fork            -2.621         0.911          1.230          0              0              0              73
   6  Pot             1.691          0.929          -0.335         0              0              0              53
   7  Egg             -2.506         1.028          2.227          0              90             0              85
   8  Cup             -2.384         0.112          0.076          0              0              0              61
   9  Cup             -2.613         0.176          -0.791         0              90             0              77
  10  Plate           1.372          0.923          -1.150         0              225            0              59
  11  Knife           -0.341         0.936          1.764          0              0              0              45
  12  Tomato          0.917          0.953          -1.173         0              45             0              55
  13  SoapBottle      -2.538         0.912          0.631          0              0              0              73
  14  SoapBottle      -2.677         1.539          1.984          0              0              0              57
  15  Bowl            -2.572         1.930          -1.034         0              0              0              66
  16  Bowl            -2.485         1.297          -0.602         0              90             0              77
  17  PepperShaker    1.684          0.906          0.406          0              270            0              54
  18  SaltShaker      0.390          0.905          -1.369         0              0              0              55
  19  Lettuce         0.048          0.994          1.764          0              0              0              45
  20  Mug             0.464          0.955          -1.593         0              0              0              55
  21  Mug             -2.524         1.532          2.840          0              0              0              49
  22  Pan             0.0            0.9            0.948          0              29.999         0              45
  23  Knife           -2.227         0.798          0.391          0              90             0              62
  24  Apple           -2.635         1.077          2.481          0              90             0              85
  25  Bowl            -2.560         1.535          0.774          0              0              0              69
  26  Fork            -0.601         0.911          1.094          0              0              0              45
  27  Bread           -0.730         0.996          1.764          0              0              0              45
  28  Plate           -0.341         0.913          1.317          0              0              0              45
  29  Egg             1.771          0.215          0.706          0              0              0              84
  30  Kettle          1.691          0.929          0.064          0              0              0              56
  31  Potato          1.119          0.947          -0.972         0              45             0              59
  32  SaltShaker      1.598          0.906          0.346          0              0              0              54
  33  Lettuce         -2.455         0.994          1.230          0              0              0              73
  34  Cup             -2.532         1.298          -0.790         0              90             0              77
  35  SoapBottle      -2.605         1.539          1.265          0              0              0              58
  36  Spatula         -2.257         0.789          0.809          0              90             0              50
  37  PaperTowelRoll  1.646          0.289          0.651          0              0              0              84
  38  ButterKnife     -0.211         0.910          0.647          0              0              0              45
  39  PepperShaker    -2.289         0.905          0.931          0              0              0              73
  40  DishSponge      0.301          1.663          -1.693         0              90             0              52
  41  Pot             -2.289         0.914          0.631          0              0              0              73
  42  Spoon           1.426          0.912          0.494          0              0              0              54
  43  Tomato          1.855          0.953          -0.642         0              0              0              55
  44  Mug             1.855          0.906          0.346          0              90             0              54
  45  CounterTop      -0.360         0.946          1.093          0              0              0
  46  StoveBurner     1.412          0.923          -0.335         0              0              0
  47  StoveKnob       1.878          1.093          0.018          287.989        90             0
  48  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  49  Cabinet         -2.446         1.948          2.924          0              0              0
  50  Drawer          -2.276         0.792          0.902          0              0              0
  51  Cabinet         -2.145         0.402          1.578          0              0              0
  52  Cabinet         0.149          2.008          -1.603         0              90             0
  53  StoveBurner     1.691          0.923          -0.335         0              0              0
  54  CounterTop      1.585          0.946          0.405          0              0              0
  55  CounterTop      0.474          0.946          -1.625         0              0              0
  56  StoveBurner     1.691          0.923          0.064          0              0              0
  57  Cabinet         -2.446         1.948          1.687          0              0              0
  58  Cabinet         -2.446         1.948          1.640          0              0              0
  59  Sink            1.381          0.810          -1.271         0              225            0
  60  StoveKnob       1.878          1.093          0.150          287.989        90             0
  61  Cabinet         -2.145         0.402          -0.236         0              0              0
  62  Drawer          -2.276         0.792          0.437          0              0              0
  63  Drawer          -2.276         0.792          -0.027         0              0              0
  64  Cabinet         1.572          2.008          0.474          0              0              0
  65  Cabinet         1.572          2.008          -0.775         0              0              0
  66  Cabinet         -2.445         2.148          -1.275         0              0              0
  67  Cabinet         -2.446         2.148          -0.284         0              0              0
  68  Cabinet         -2.446         1.948          0.355          0              0              0
  69  Cabinet         -2.446         1.948          0.405          0              0              0
  70  Cabinet         -2.145         0.402          0.644          0              0              0
  71  Cabinet         -2.145         0.402          0.695          0              0              0
  72  Cabinet         -2.285         1.968          -1.325         0              180            0
  73  CounterTop      -1.485         0.946          1.319          0              0              0
  74  StoveBurner     1.411          0.923          0.064          0              0              0
  75  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  76  Drawer          -2.276         0.792          1.368          0              0              0
  77  Fridge          -2.475         0.0            -0.782         0              90             0
  78  LightSwitch     -0.929         1.350          -1.950         0              0              0
  79  Toaster         -2.564         0.900          1.876          0              90             0
  80  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  81  Window          1.508          1.534          -1.496         90             135            0
  82  Window          1.973          1.521          1.121          90             90             0
  83  SinkBasin       1.149          0.753          -1.380         0              225            0
  84  GarbageCan      1.646          -0.000         0.679          0              0              0
  85  Microwave       -2.580         0.900          2.440          0              90             0
  86  Stool           0.439          0.010          0.747          0              0              0
  87  Stool           -2.303         0.010          1.839          0              0              0
  88  Faucet          1.235          1.138          -1.473         0              225            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn around, go around the island to the right, to the counter, right of the fridge.  | STEP 2: Take the cup out of the lower cabinet, right of the fridge.  | STEP 3: Bring the cup to the microwave, which is to the right, on the counter. | STEP 4: Heat the cup in the mike.  | STEP 5: Bring the heated cup up to the cabinet above the mike.  | STEP 6: Put the heated cup in the cabinet above the mike. | END