Task: Warm up a cup to put it away.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          4.0            0              90             0
   1  Potato          0.305          0.794          6.541          0              270            0              98
   2  Potato          2.137          1.550          5.376          0              180            0              84
   3  DishSponge      0.871          0.771          0.563          0              0              0              54
   4  DishSponge      2.055          0.080          6.469          0              0              0              86
   5  Kettle          1.559          0.988          4.294          0              0              0              60
   6  Kettle          1.562          0.988          3.848          0              0              0              56
   7  Spoon           1.225          0.993          0.668          0              0              0              62
   8  Spatula         1.442          0.905          2.239          0              0              0              85
   9  Egg             -0.158         0.810          6.604          0              270            0              98
  10  Egg             0.273          1.147          0.245          0              0              0              78
  11  Cup             -0.135         0.756          6.237          0              225            0              98
  12  Plate           1.238          0.141          3.143          0              0              0              73
  13  Plate           1.406          0.141          2.794          0              0              0              74
  14  Knife           -0.384         1.022          0.670          0              0              0              62
  15  Knife           1.348          0.801          3.291          0              0              0              55
  16  SoapBottle      1.135          0.992          4.670          0              0              0              63
  17  SoapBottle      1.489          2.207          3.887          0              90             0              50
  18  PepperShaker    0.257          0.755          6.719          0              225            0              98
  19  PepperShaker    1.400          0.136          4.724          0              0              0              64
  20  SaltShaker      1.155          0.135          2.572          0              0              0              74
  21  SaltShaker      -0.483         0.139          0.201          0              0              0              70
  22  Bread           0.058          0.829          6.261          0              135            0              98
  23  Bread           -0.378         0.829          6.698          0              135            0              98
  24  Mug             1.966          1.510          5.876          0              270            0              84
  25  Apple           2.009          1.590          6.001          0              270            0              84
  26  Apple           2.094          1.590          5.501          0              270            0              84
  27  Bowl            0.124          0.143          0.429          0              0              0              71
  28  Bread           -0.535         1.062          0.395          0              0              0              62
  29  Egg             1.924          1.565          5.751          0              270            0              84
  30  Knife           -0.621         0.789          6.541          0              270            0              98
  31  Fork            -0.413         0.771          0.395          0              90             0              58
  32  Apple           0.150          0.834          6.666          0              270            0              98
  33  Kettle          1.32           0.988          3.848          0              0              0              61
  34  Plate           1.500          1.578          1.227          0              0              0              72
  35  SaltShaker      0.015          0.755          6.742          0              225            0              98
  36  Lettuce         1.493          1.081          3.324          0              0              0              62
  37  SoapBottle      -0.384         0.992          0.395          0              0              0              62
  38  Spatula         -0.481         0.787          0.563          0              0              0              58
  39  PaperTowelRoll  0.696          1.096          0.395          0              270            0              62
  40  Pot             0.734          0.981          0.38           0              0              0              62
  41  Potato          0.305          0.794          6.291          0              270            0              98
  42  ButterKnife     0.847          0.992          0.578          0              0              0              62
  43  PepperShaker    1.621          2.202          3.794          0              0              0              66
  44  Pan             1.313          0.985          4.284          0              0              0              57
  45  Tomato          1.442          0.940          2.034          0              90             0              85
  46  DishSponge      1.404          0.771          3.223          0              0              0              55
  47  Cup             -0.762         0.988          0.395          0              0              0              62
  48  Spoon           1.403          0.993          3.511          0              0              0              62
  49  Mug             1.384          1.043          0.847          0              270            0              62
  50  Cabinet         1.307          2.455          4.360          0              0              0
  51  Cabinet         1.054          0.422          1.710          0              0              0
  52  Drawer          1.280          0.808          4.718          0              0              0
  53  Cabinet         1.307          2.455          3.607          0              0              0
  54  Drawer          0.736          0.802          0.521          0              0              0
  55  Drawer          1.276          0.802          3.291          0              0              0
  56  StoveBurner     1.562          0.982          3.848          0              0              0
  57  StoveBurner     1.317          0.982          4.294          0              0              0
  58  Drawer          -0.482         0.802          0.521          0              0              0
  59  Drawer          0.124          0.802          0.521          0              0              0
  60  StoveBurner     1.559          0.982          4.294          0              0              0
  61  StoveBurner     1.320          0.982          3.848          0              0              0
  62  CounterTop      1.391          1.028          0.897          0              0              0
  63  CounterTop      1.391          1.028          4.716          0              0              0
  64  Cabinet         1.054          0.422          4.548          0              0              0
  65  Cabinet         1.317          2.134          0.517          0              0              0
  66  Cabinet         1.317          2.134          4.889          0              0              0
  67  Cabinet         1.317          2.134          3.095          0              0              0
  68  Cabinet         0.443          0.422          0.743          0              0              0
  69  Cabinet         1.270          2.134          0.434          0              0              0
  70  Cabinet         -0.775         0.422          0.743          0              0              0
  71  Cabinet         -0.168         0.422          0.743          0              0              0
  72  Cabinet         1.317          2.134          1.534          0              0              0
  73  Cabinet         1.054          0.422          2.990          0              0              0
  74  Cabinet         1.054          0.422          2.944          0              0              0
  75  Cabinet         -0.263         2.134          0.434          0              0              0
  76  Cabinet         0.252          2.134          0.434          0              0              0
  77  Sink            1.391          1.006          2.326          0              0              0
  78  Microwave       0.108          0.981          0.262          0              0              0
  79  HousePlant      -0.165         0.826          6.444          0              0              0
  80  CoffeeMachine   1.551          0.982          0.953          0              270            0
  81  Toaster         1.473          0.981          4.715          0              270            0
  82  Window          -2.065         1.916          3.626          90             90             0
  83  Window          1.763          2.007          2.299          90             270            0
  84  Fridge          2.035          0.0            5.625          0              0              0
  85  SinkBasin       1.387          0.880          2.338          0              90             0
  86  GarbageCan      2.001          -0.044         6.503          0              0              0
  87  StoveKnob       1.140          0.934          3.987          45             270            0
  88  StoveKnob       1.140          0.934          4.309          45             270            0
  89  StoveKnob       1.140          0.934          4.140          45             270            0
  90  StoveKnob       1.140          0.934          3.824          45             270            0
  91  Vase            -0.226         0.834          6.993          0              0              0
  92  Vase            2.098          0.043          7.070          0              257.232        0
  93  Vase            -0.594         0.835          6.130          0              225            0
  94  LightSwitch     -2.0           1.549          6.045          0              90             0
  95  Safe            2.046          1.072          7.054          0              257.232        0
  96  Faucet          1.534          1.025          2.371          0              294.391        0
  97  Blinds          1.738          2.563          2.312          0              90             0
  98  DiningTable     -0.156         0.000          6.474          0              0              0
  99  Chair           0.291          0.002          6.142          0              310.162        0
 100  GarbageBag      -1.092         0.318          0.268          270            90             83.492
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: Turn and go to the kitchen counter that is closest to the bag of trash on the floor. | STEP 2: Pick up the cup that is near the edge of the counter. | STEP 3: Turn and with the cup in hand go to the microwave. | STEP 4: Open the microwave door. Place the cup on the microwave to the right of the egg.  Close the microwave door and turn the microwave on.  Open the door when finished and grab the cup.  Shut the microwave door. | STEP 5: Turn to go to the cabinet that is below the microwave and the farthest to the right. | STEP 6: Open the cabinet door.  Place the cup in the cabinet in the center of the shelf. Shut the cabinet door. | END