Task: Cook the Ice cream cup and put it in the 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          1.5            0              90             0
   1  Potato          -2.726         1.182          2.045          0              90             0              66
   2  ButterKnife     -2.044         0.823          0.518          0              0              0              48
   3  ButterKnife     -0.147         0.823          0.352          0              0              0              48
   4  Spoon           -0.916         0.712          0.378          0              90             0              51
   5  Spoon           -2.044         0.824          0.528          0              0              0              48
   6  Egg             -0.395         0.080          2.539          0              0              0              68
   7  Egg             -2.892         0.849          2.045          0              90             0              66
   8  Cup             -2.882         1.434          1.049          0              0              0              56
   9  Cup             -2.671         1.445          2.045          0              90             0              66
  10  Cup             -2.724         0.823          0.129          0              0              0              48
  11  Tomato          -0.262         0.106          2.606          0              0              0              68
  12  Tomato          -2.837         1.495          1.957          0              90             0              66
  13  Bowl            -1.943         0.121          0.401          0              0              0              60
  14  SaltShaker      -2.491         0.818          0.129          0              0              0              48
  15  PepperShaker    -1.542         0.818          0.046          0              0              0              48
  16  PepperShaker    -2.338         1.431          0.114          0              270            0              55
  17  Mug             -2.671         0.819          2.133          0              90             0              66
  18  Mug             -2.375         0.818          0.352          0              0              0              48
  19  Apple           -2.837         0.897          2.133          0              90             0              66
  20  Apple           -0.395         0.129          2.640          0              90             0              68
  21  Fork            -1.214         0.813          0.498          0              0              0              48
  22  Ladle           -0.371         0.738          0.879          0              45             0              50
  23  Pan             -0.244         0.829          1.684          0              0              0              47
  24  SoapBottle      -2.504         0.821          0.871          0              0              0              48
  25  Pot             -0.531         0.822          2.096          0              0              0              45
  26  Tomato          -2.669         1.181          2.373          0              0              0              66
  27  Potato          -1.481         0.741          0.295          0              0              0              75
  28  SaltShaker      -1.465         0.120          0.479          0              0              0              61
  29  Plate           -2.746         1.439          0.200          0              45             0              54
  30  Spatula         -2.608         0.838          0.203          0              90             0              48
  31  Knife           -2.662         0.819          0.557          90             300.034        0              48
  32  Egg             -2.744         0.945          1.231          0              90             0              67
  33  Cup             -0.477         0.823          1.326          0              0              0              48
  34  ButterKnife     -1.709         0.823          0.518          0              0              0              48
  35  Lettuce         -2.837         1.227          2.397          0              90             0              66
  36  PepperShaker    -2.581         0.818          0.544          0              0              0              48
  37  DishSponge      -2.504         0.823          0.462          0              0              0              48
  38  Bread           -0.979         0.855          0.249          0              29.999         0              48
  39  Spoon           -1.189         0.699          0.444          0              270            0              52
  40  Mug             -2.462         1.844          2.420          0              0              0              58
  41  Bowl            -2.609         0.118          1.510          0              0              0              59
  42  Cabinet         -2.377         2.015          1.720          0              0              0
  43  StoveBurner     -0.244         0.820          2.075          0              180            0
  44  Drawer          -0.402         0.703          1.252          0              0              0
  45  StoveBurner     -0.518         0.820          2.075          0              180            0
  46  Sink            -1.838         0.726          0.343          0              180            0
  47  StoveBurner     -0.244         0.820          1.684          0              0              0
  48  CounterTop      -1.557         0.859          0.277          0              0              0
  49  StoveBurner     -0.518         0.820          1.684          0              0              0
  50  Drawer          -0.404         0.704          0.912          0              0              0
  51  Drawer          -0.861         0.709          0.420          0              0              0
  52  Drawer          -1.133         0.706          0.418          0              0              0
  53  Drawer          -2.589         0.703          1.511          0              0              0
  54  Cabinet         -2.772         1.803          0.508          0              0              0
  55  Cabinet         -2.460         1.803          0.231          0              0              0
  56  Cabinet         -2.781         1.798          0.825          0              0              0
  57  Cabinet         -2.781         1.798          0.815          0              0              0
  58  Cabinet         -2.377         2.009          2.581          0              0              0
  59  Cabinet         -2.442         0.385          1.672          0              0              0
  60  Cabinet         -2.238         0.385          0.564          0              0              0
  61  Cabinet         -1.286         0.385          0.564          0              0              0
  62  Cabinet         -1.262         0.385          0.565          0              0              0
  63  Cabinet         -0.734         0.385          0.565          0              0              0
  64  Cabinet         -0.549         0.385          0.751          0              0              0
  65  Cabinet         -0.549         0.385          1.412          0              0              0
  66  Fridge          -2.782         0.0            2.221          0              0              0
  67  Microwave       -2.794         0.812          1.348          0              90             0
  68  GarbageCan      -0.329         2.205          2.606          0              0              0
  69  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  70  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  71  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  72  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  73  Window          -1.720         1.342          -0.208         90             0              0
  74  Toaster         -0.171         0.812          0.735          0              270            0
  75  SinkBasin       -1.745         0.687          0.295          0              0              0
  76  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  77  LightSwitch     -0.615         1.378          3.0            0              180            0
  78  Faucet          -1.686         0.954          0.176          0              236.223        0
  79  Stool           -1.008         0.008          1.955          0              18.279         0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn right go one step then turn right another step and then turn left another step then turn right and go towards the counter. | STEP 2: Open the cabinet in front above the left corner of the microwave. | STEP 3: Pick up the green ice cream cup from the cabinet and close the cabinet then walk one step back turn right one step and then turn left in front of the microwave. | STEP 4: Open the Microwave and put the ice cream cup into the microwave then turn on the microwave and when cooking is done open the microwave again and take out the cup. | STEP 5: Take the cup higher to the cabinet above the microwave and open the cabinet. | STEP 6: Put the cup into the cabinet and close the cabinet. | END