Task: To heat a cup and place 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           -2.75          0.899          2.5            0              270            0
   1  Pan             -0.488         0.924          5.603          0              0              0              52
   2  Pencil          -1.860         0.923          1.648          0              0              0              65
   3  DishSponge      -4.335         0.923          5.418          0              90             0              67
   4  ButterKnife     -4.184         0.923          4.381          0              90             0              67
   5  Pot             -2.469         0.930          1.712          0              270            0              82
   6  Spoon           -1.943         0.924          1.951          0              90             0              49
   7  Spoon           -0.181         0.926          5.273          0              0              0              52
   8  Spatula         -0.411         0.940          5.273          0              0              0              52
   9  Egg             -3.748         0.104          6.251          0              270            0              93
  10  Plate           -0.301         1.581          3.409          0              270            0              100
  11  SoapBottle      -2.109         0.923          1.875          0              0              0              49
  12  Tomato          -0.259         1.392          3.726          0              270            0              100
  13  Tomato          -0.348         1.127          3.974          0              270            0              100
  14  Mug             -1.905         1.448          1.638          0              0              0              86
  15  Mug             -0.409         0.955          6.557          0              270            0              88
  16  Apple           -4.196         0.844          3.222          0              270            0              99
  17  Egg             -0.342         1.721          4.035          0              270            0              100
  18  Apple           -3.712         0.122          6.416          0              270            0              93
  19  Knife           -0.411         0.954          4.944          0              0              0              52
  20  Potato          -0.342         1.614          3.228          0              270            0              100
  21  Fork            -1.860         0.924          2.026          0              0              0              49
  22  Bowl            -0.342         1.332          3.974          0              270            0              100
  23  Plate           -0.348         1.071          3.355          0              270            0              100
  24  Lettuce         -4.191         1.003          2.538          0              278.173        0              67
  25  Bread           -0.258         1.004          5.932          0              0              0              52
  26  Tomato          -0.383         1.392          3.603          0              270            0              100
  27  WineBottle      -0.334         0.926          4.944          0              0              0              52
  28  Spatula         -1.943         0.938          1.648          0              90             0              49
  29  PaperTowelRoll  -4.033         1.027          4.640          0              90             0              67
  30  Cup             -4.054         0.076          2.246          0              0              0              77
  31  Pencil          -3.748         0.068          6.375          0              270            0              93
  32  Pan             -2.454         0.933          2.023          0              240.000        0              55
  33  Pot             -2.924         0.930          1.712          0              180            0              64
  34  SaltShaker      -0.565         0.921          4.944          0              0              0              52
  35  SoapBottle      -3.494         0.923          5.412          0              90             0              67
  36  PepperShaker    -4.125         0.743          4.660          0              90             0              74
  37  ButterKnife     -0.181         0.925          4.615          0              0              0              52
  38  DishSponge      -1.777         0.923          1.648          0              0              0              49
  39  Spoon           -0.503         0.747          5.997          0              270            0              78
  40  Mug             -4.159         0.785          3.347          0              270            0              99
  41  Cabinet         -3.203         1.931          1.777          0              0              0
  42  Cabinet         -3.187         0.390          2.089          0              0              0
  43  Cabinet         -0.637         0.387          6.882          0              180            0
  44  Drawer          -3.797         0.781          1.961          0              0              0
  45  Cabinet         -3.036         0.387          5.029          0              90             0
  46  Drawer          -0.509         0.775          5.268          0              270            0
  47  Drawer          -4.125         0.798          2.499          0              0              0
  48  Cabinet         -0.331         2.249          4.308          0              180            0
  49  CounterTop      -1.872         0.958          1.799          0              0              0
  50  StoveBurner     -2.924         0.924          2.012          0              0              0
  51  Cabinet         -0.331         2.249          6.806          0              180            0
  52  CounterTop      -0.345         0.960          5.603          0              0              0
  53  Cabinet         -3.039         1.935          5.321          0              90             0
  54  Cabinet         -3.922         0.397          2.088          0              0              0
  55  StoveBurner     -2.467         0.924          2.012          0              0              0
  56  Cabinet         -0.331         2.249          5.505          0              180            0
  57  Drawer          -0.509         0.775          4.617          0              270            0
  58  Drawer          -3.509         0.777          5.157          0              180            0
  59  Cabinet         -3.961         0.388          2.878          0              0              0
  60  Cabinet         -3.961         0.388          4.342          0              0              0
  61  Cabinet         -0.637         0.387          5.582          0              180            0
  62  Cabinet         -0.637         0.388          4.299          0              180            0
  63  Cabinet         -0.637         0.388          5.599          0              180            0
  64  StoveBurner     -2.924         0.924          1.712          0              180            0
  65  Drawer          -1.859         0.775          1.961          0              0              0
  66  Cabinet         -0.331         2.249          5.609          0              180            0
  67  CounterTop      -4.260         0.958          4.943          0              90             0
  68  Cabinet         -4.284         1.931          2.226          0              0              0
  69  Cabinet         -0.331         2.249          3.010          0              180            0
  70  Drawer          -3.801         0.777          5.157          0              180            0
  71  Cabinet         -4.112         1.935          5.321          0              90             0
  72  Cabinet         -3.968         0.388          3.662          0              0              0
  73  Drawer          -3.418         0.777          1.961          0              0              0
  74  Drawer          -4.090         0.777          4.661          0              90             0
  75  Faucet          -4.441         0.909          3.288          270            0              0
  76  Cabinet         -0.331         2.249          4.207          0              180            0
  77  Cabinet         -3.961         0.388          2.119          0              0              0
  78  Drawer          -0.509         0.775          5.920          0              270            0
  79  Drawer          -3.193         0.777          5.157          0              180            0
  80  Cabinet         -3.968         0.388          2.894          0              0              0
  81  Cabinet         -3.667         0.387          5.029          0              90             0
  82  StoveBurner     -2.469         0.924          1.712          0              270            0
  83  Cabinet         -1.539         0.388          2.090          0              0              0
  84  Sink            -4.190         0.921          3.279          0              0              0
  85  Cabinet         -3.641         0.387          5.029          0              90             0
  86  Cabinet         -1.583         1.931          1.777          0              0              0
  87  Drawer          -0.509         0.775          6.568          0              270            0
  88  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  89  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  90  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  91  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  92  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  93  GarbageCan      -3.711         -0.030         6.376          0              270            0
  94  Toaster         -3.578         0.912          1.763          0              0              0
  95  Curtains        -4.522         2.252          3.391          90             90             0
  96  Window          -4.868         1.629          3.309          90             270            0
  97  Microwave       -2.693         1.430          1.689          0              0              0
  98  LightSwitch     -1.588         1.169          1.506          0              0              0
  99  SinkBasin       -4.196         0.780          3.276          0              270            0
 100  Fridge          -0.324         -0.001         3.602          0              0              0
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: Walk up to the counter straight ahead and look down at the cabinets.  | STEP 2: Open the cabinet on the left side and pick up the cup.  | STEP 3: Turn around and walk to the stove on the right, look up at the microwave.  | STEP 4: Open the microwave door, place the cup inside the microwave, close the door, heat up the cup, open the microwave, take the cup out, and close the door.  | STEP 5: Turn right and face the cabinets below the counter with the head of lettuce.  | STEP 6: Open the cabinet on the left, place the cup inside the cabinet, and shut the door.  | END