Task: Heat a cup and 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           0.5            0.900          -1.25          0              270            0
   1  Pan             1.845          0.948          -0.757         0              0              0              64
   2  Potato          -0.047         0.959          0.076          0              0              0              84
   3  Ladle           1.572          0.164          -1.266         0              270            0              61
   4  Ladle           1.828          0.957          -1.446         0              0              0              67
   5  ButterKnife     0.408          0.930          0.534          0              0              0              84
   6  Spatula         0.180          0.941          1.220          0              0              0              84
   7  Spatula         0.522          0.945          0.076          0              0              0              84
   8  Spoon           0.294          0.931          0.762          0              0              0              84
   9  Spoon           0.066          0.931          0.762          0              0              0              84
  10  Egg             -0.356         0.818          -1.936         0              0              0              79
  11  Egg             -1.438         0.913          -1.013         0              90             0              75
  12  Cup             1.647          0.913          -1.095         0              0              0              67
  13  Plate           -1.438         0.862          -0.599         0              90             0              75
  14  Tomato          -0.720         0.965          -2.167         0              0              0              67
  15  Tomato          0.180          0.982          0.534          0              0              0              84
  16  SoapBottle      1.915          0.085          0.121          0              0              0              68
  17  Bowl            -0.137         0.761          -1.981         0              90             0              79
  18  Lettuce         -1.572         1.585          -0.599         0              90             0              75
  19  SaltShaker      0.180          0.926          0.991          0              0              0              84
  20  SaltShaker      1.988          1.654          -1.158         0              270            0              58
  21  PepperShaker    -0.897         0.122          -1.501         0              90             0              60
  22  PepperShaker    -1.254         2.143          -1.202         0              90             0              51
  23  Apple           1.385          0.984          -1.751         0              0              0              67
  24  Apple           -0.047         1.001          0.305          0              0              0              84
  25  Apple           0.689          0.984          -1.751         0              0              0              67
  26  Potato          -1.495         0.888          -0.806         0              90             0              75
  27  Bowl            1.566          0.549          2.431          0              0              0              87
  28  SoapBottle      0.294          0.925          1.448          0              0              0              84
  29  Fork            0.180          0.931          1.448          0              0              0              84
  30  Ladle           0.066          0.975          0.534          0              0              0              84
  31  Bread           -0.047         0.972          1.220          0              0              0              84
  32  Lettuce         -1.553         1.264          -0.703         0              90             0              75
  33  WineBottle      0.408          0.927          1.448          0              0              0              84
  34  Spatula         1.738          0.928          -1.680         0              0              0              67
  35  Plate           1.850          0.916          -2.169         0              0              0              67
  36  SaltShaker      0.457          0.909          -1.834         0              0              0              67
  37  Pot             -0.117         0.921          1.5            0              0              0              84
  38  Cup             2.009          0.913          -1.329         0              0              0              67
  39  PepperShaker    0.294          0.926          0.534          0              0              0              84
  40  Pan             0.180          0.926          0.305          0              270            0              84
  41  ButterKnife     -0.791         0.9            -2.186         0              164.999        0              67
  42  Tomato          -1.380         1.235          -1.013         0              90             0              75
  43  DishSponge      1.466          0.913          -1.563         0              0              0              67
  44  Egg             -1.252         1.069          -1.846         0              90             0              73
  45  Spoon           0.522          0.931          0.991          0              0              0              84
  46  Knife           0.408          0.950          0.991          0              0              0              84
  47  Mug             1.362          0.875          2.510          0              0              0              93
  48  StoveBurner     1.845          0.940          -0.355         0              0              0
  49  StoveBurner     1.567          0.940          -0.757         0              0              0
  50  Cabinet         -1.149         2.019          -1.979         0              90             0
  51  Cabinet         -1.149         2.265          -0.834         0              90             0
  52  Cabinet         -0.459         2.265          -2.0           0              0              0
  53  Cabinet         -1.100         2.019          -2.0           0              0              0
  54  Cabinet         1.719          2.019          -2.0           0              0              0
  55  Cabinet         1.179          2.019          -2.0           0              0              0
  56  Cabinet         0.199          2.019          -2.0           0              0              0
  57  Cabinet         1.75           2.019          -1.399         0              270            0
  58  Cabinet         1.75           2.019          -1.029         0              270            0
  59  Cabinet         1.379          0.469          -1.689         0              0              0
  60  Cabinet         -0.819         0.469          -1.689         0              0              0
  61  Cabinet         1.389          0.469          -1.059         0              270            0
  62  Cabinet         -0.839         0.469          -1.665         0              90             0
  63  StoveBurner     1.567          0.940          -0.355         0              0              0
  64  StoveBurner     1.845          0.940          -0.757         0              0              0
  65  Sink            -0.109         0.893          -2.009         0              0              0
  66  Drawer          -0.819         0.75           -1.690         0              0              0
  67  CounterTop      0.232          0.949          -2.002         0              0              0
  68  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  69  Vase            0.251          0.546          0.475          0              270            0
  70  Toaster         0.780          0.900          -2.080         0              0              0
  71  LightSwitch     0.108          1.315          2.75           0              180            0
  72  Vase            0.400          0.925          0.218          0              180            0
  73  Microwave       -1.233         0.900          -1.680         0              90             0
  74  Vase            1.465          1.662          -2.200         0              0              0
  75  Fridge          -1.495         0.0            -0.703         0              0              0
  76  Window          2.114          1.495          1.072          90             270            0
  77  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  78  Vase            0.333          0.546          1.272          0              270            0
  79  SinkBasin       -0.148         0.753          -2.026         0              0              0
  80  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  81  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  82  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  83  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  84  DiningTable     0.170          0.005          0.678          0              270            0
  85  Shelf           0.170          0.155          0.678          0              270            0
  86  Shelf           1.605          0.172          2.480          0              0              0
  87  Shelf           1.605          0.552          2.480          0              0              0
  88  Shelf           1.604          0.880          2.479          0              0              0
  89  ShelvingUnit    1.605          0.006          2.480          0              0              0
  90  Faucet          -0.143         1.028          -2.223         0              270            0
  91  Stool           -0.553         0.000          0.871          1.233          280.376        0
  92  Shelf           0.170          0.528          0.678          0              270            0
  93
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Walk around a kitchen table and go to the shelf in the corner of the room. | STEP 2: Grab a cup from the top shelf. | STEP 3: Walk to the microwave behind you and to your right. | STEP 4: Put the cup in the microwave, then take it out. | STEP 5: Locate the cabinets above it. | STEP 6: Put the cup in the left cabinet. | END