Task: put heated goblet into sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          -0.5           0              270            0
   1  Pan             -2.59          0.9            -1.147         0              0              0              66
   2  Potato          -0.598         0.933          -1.119         0              47.530         0              66
   3  ButterKnife     0.125          1.111          1.594          0              315            0              59
   4  Kettle          -1.982         0.116          -1.019         0              0              0              42
   5  Pot             -2.622         0.928          -0.396         0              0              0              60
   6  Pot             -2.800         0.379          0.852          0              90             0              78
   7  Spoon           -2.628         0.747          0.226          0              0              0              64
   8  Fork            0.253          1.112          1.768          0              315            0              59
   9  Plate           -2.848         1.796          -0.731         0              0              0              37
  10  Egg             -2.728         0.072          1.571          0              0              0              77
  11  Egg             -2.770         0.946          -0.062         0              0              0              58
  12  Knife           -2.585         0.769          0.226          0              270            0              64
  13  Tomato          0.920          0.960          -0.948         0              0              0              66
  14  Bowl            0.842          0.910          -1.365         0              0              0              66
  15  Apple           1.240          1.163          0.787          0              315            0              59
  16  Apple           0.294          1.057          -1.381         0              0              0              79
  17  Fork            -1.948         0.747          -1.094         0              90             0              61
  18  Kettle          -2.810         1.665          0.033          0              0              0              52
  19  CreditCard      0.997          0.9            -0.982         0              334.941        0              66
  20  Bread           -0.401         0.948          -1.291         0              0              0              66
  21  Plate           -2.085         0.913          -1.282         0              0              0              66
  22  SoapBottle      -0.748         0.899          -1.291         0              315            0              66
  23  Spatula         -2.552         0.922          0.010          0              0              0              58
  24  Lettuce         -2.660         0.874          0.983          31.046         0              0              78
  25  SaltShaker      -2.695         0.9            -0.132         0              0              0              58
  26  Tomato          -2.521         0.960          0.359          0              0              0              58
  27  PepperShaker    -2.830         0.9            -0.112         0              0              0              58
  28  ButterKnife     0.990          1.111          0.883          0              315            0              59
  29  Pot             -2.740         1.475          0.771          0              90             0              78
  30  DishSponge      -1.221         0.841          -1.126         0              41.164         0              76
  31  Egg             0.241          1.040          -1.248         0              0              0              79
  32  Spoon           0.240          1.112          1.171          0              315            0              59
  33  Knife           -1.332         0.872          -1.194         0              270            0              76
  34  Cup             -1.119         0.841          -1.241         0              0              0              76
  35  Mug             1.029          1.145          0.209          0              228.424        0              69
  36  Bowl            -2.800         0.818          0.771          0              90             0              78
  37  Cabinet         -2.647         2.075          -0.875         0              0              0
  38  Cabinet         -2.647         2.075          -0.234         0              0              0
  39  Cabinet         -0.824         0.469          -0.907         0              0              0
  40  Cabinet         -1.764         2.009          -1.197         0              0              0
  41  Cabinet         -1.834         2.009          -1.197         0              0              0
  42  Cabinet         -1.850         0.389          -0.897         0              0              0
  43  Cabinet         -1.801         0.469          -0.907         0              0              0
  44  Cabinet         1.115          2.009          -1.197         0              0              0
  45  Cabinet         0.235          2.009          -1.197         0              0              0
  46  Cabinet         1.125          0.470          -0.897         0              0              0
  47  Cabinet         -2.387         0.389          0.375          0              0              0
  48  Cabinet         0.484          0.389          -0.897         0              0              0
  49  Cabinet         -2.625         2.009          -1.197         0              0              0
  50  Cabinet         -2.647         2.009          -0.945         0              0              0
  51  Cabinet         -2.647         2.200          1.664          0              0              0
  52  Cabinet         -2.647         2.009          0.364          0              0              0
  53  Cabinet         0.164          2.009          -1.197         0              0              0
  54  Cabinet         -0.765         2.009          -1.197         0              0              0
  55  Cabinet         -0.834         2.009          -1.197         0              0              0
  56  Cabinet         -2.647         2.200          0.434          0              0              0
  57  StoveBurner     -2.622         0.886          -0.711         0              0              0
  58  CounterTop      -2.699         0.946          0.106          0              0              0
  59  CounterTop      0.908          1.147          0.788          0              315            0
  60  StoveBurner     -2.622         0.886          -0.396         0              0              0
  61  Drawer          -2.026         0.779          -1.082         0              0              0
  62  Sink            -1.328         0.916          -1.225         0              0              0
  63  StoveBurner     -2.822         0.886          -0.711         0              0              0
  64  Drawer          -2.572         0.779          0.099          0              0              0
  65  StoveBurner     -2.822         0.886          -0.396         0              0              0
  66  CounterTop      0.071          0.946          -1.199         0              0              0
  67  Drawer          0.254          0.779          -1.082         0              0              0
  68  LightSwitch     -1.167         1.307          3.0            0              180            0
  69  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  70  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  71  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  72  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  73  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  74  Window          0.321          1.449          3.088          90             0              0
  75  Toaster         -2.823         0.899          0.246          0              90             0
  76  SinkBasin       -1.344         0.838          -1.25          0              0              0
  77  GarbageCan      -2.757         1.886          1.466          0              0              0
  78  Fridge          -2.855         0.0            0.851          0              0              0
  79  Microwave       0.283          0.900          -1.331         0              0              0
  80  Stool           1.541          0.010          1.328          0              45             0
  81  Stool           0.983          0.010          1.793          0              47.459         0
  82  Faucet          -1.392         1.136          -1.399         0              270            0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: walk to face sink | STEP 2: pick up golden goblet from sink | STEP 3: walk to face microwave | STEP 4: heat goblet inside microwave, pick up goblet from microwave | STEP 5: walk to face sink | STEP 6: place goblet inside sink basin | END