Task: Put a heated cup in the cabinet above the toaster.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.930          1.0            0              270            0
   1  Pan             1.229          0.907          0.180          0              270            0              96
   2  Potato          -0.048         0.938          -1.584         0              45             0              86
   3  Ladle           -0.786         0.554          -0.186         0              90             0              92
   4  DishSponge      -0.868         0.517          -0.011         0              0              0              92
   5  Glassbottle     0.022          0.901          -1.660         0              0              0              86
   6  Glassbottle     0.179          0.901          -1.445         0              0              0              86
   7  Spatula         3.200          0.915          -0.897         0              90             0              64
   8  Spatula         3.355          0.915          -0.399         0              270            0              64
   9  Spoon           -0.660         0.519          -0.729         0              45             0              88
  10  Spoon           -0.868         0.707          0.076          0              0              0              72
  11  CellPhone       3.335          0.898          -0.151         0              0              0              64
  12  CellPhone       -0.827         0.515          1.518          0              0              0              53
  13  Mug             1.086          1.242          -1.531         0              90             0              111
  14  Mug             1.491          0.903          0.889          0              0              0              96
  15  Apple           -0.085         0.974          -1.342         0              45             0              86
  16  Lettuce         0.967          0.976          0.322          0              0              0              96
  17  Lettuce         0.622          0.976          0.527          0              0              0              96
  18  PepperShaker    -0.786         0.322          1.518          0              0              0              100
  19  PepperShaker    -0.950         0.322          0.664          0              0              0              66
  20  SoapBottle      3.084          0.184          -0.501         0              0              0              76
  21  SoapBottle      -0.285         0.909          -1.450         0              45             0              86
  22  Tomato          3.044          0.937          -0.897         0              0              0              64
  23  Egg             -1.080         0.952          -0.047         0              0              0              65
  24  Cup             1.008          0.709          -1.381         0              0              0              111
  25  Knife           -0.862         0.925          -0.494         0              180            0              65
  26  Plate           -0.953         0.886          0.699          0              0              0              65
  27  Glassbottle     3.318          1.465          -1.697         0              0              0              63
  28  SoapBottle      3.198          0.184          -0.744         0              0              0              77
  29  Potato          3.128          0.139          1.6            0              225            0              106
  30  Fork            0.445          0.908          0.426          0              0              0              96
  31  Ladle           3.140          0.214          0.770          0              0              0              74
  32  Pot             -0.420         0.902          -0.920         0              135            0              60
  33  Kettle          -0.237         0.900          -1.099         0              45             0              94
  34  Spatula         1.229          0.923          0.605          0              0              0              96
  35  Knife           3.412          0.926          0.232          0              90             0              64
  36  Lettuce         0.836          0.973          0.747          0              0              0              96
  37  Cup             0.830          0.905          0.171          0              36.810         0              96
  38  SaltShaker      2.947          0.708          -0.823         0              180            0              52
  39  Egg             1.008          1.126          -1.503         0              0              0              111
  40  PepperShaker    0.022          0.896          -1.803         0              0              0              86
  41  ButterKnife     -0.868         0.131          1.518          0              0              0              89
  42  Apple           0.851          1.147          -1.475         0              0              0              111
  43  Pan             0.341          0.873          -1.649         0              167.065        0              86
  44  Bread           1.534          0.972          0.486          0              289.287        0              96
  45  CellPhone       2.947          0.709          -0.454         0              180            0              61
  46  DishSponge      0.110          0.899          -1.332         0              45             0              86
  47  Tomato          1.242          1.110          -1.559         0              0              0              111
  48  Spoon           -0.868         0.327          0.489          0              0              0              66
  49  Bowl            -0.789         0.897          0.399          0              0              0              65
  50  Mug             3.049          0.966          0.591          0              270            0              108
  51  Drawer          0.376          0.572          -1.509         0              0              0
  52  Drawer          3.020          0.769          -0.783         0              180            0
  53  Drawer          -0.860         0.577          1.429          0              0              0
  54  StoveBurner     -0.600         0.897          -1.090         0              135            0
  55  Drawer          0.376          0.191          -1.509         0              0              0
  56  Cabinet         1.402          1.874          -1.259         0              0              0
  57  Cabinet         -0.202         1.963          -1.328         0              0              0
  58  Drawer          -0.860         0.765          1.429          0              0              0
  59  Drawer          -0.677         0.765          -0.700         0              0              0
  60  StoveBurner     -0.420         0.897          -0.920         0              135            0
  61  Drawer          3.020          0.769          -0.407         0              180            0
  62  Drawer          -0.860         0.577          0.663          0              0              0
  63  Cabinet         2.819          1.768          -1.850         0              0              0
  64  CounterTop      3.111          0.936          0.019          0              0              0
  65  CounterTop      -1.007         0.935          -0.039         0              0              0
  66  Drawer          -0.860         0.385          0.663          0              0              0
  67  StoveBurner     -0.419         0.897          -1.269         0              315            0
  68  Drawer          -0.047         0.573          -1.324         0              0              0
  69  Drawer          -0.860         0.765          0.663          0              0              0
  70  Drawer          -0.860         0.385          -0.100         0              0              0
  71  Drawer          0.376          0.380          -1.509         0              0              0
  72  Drawer          -0.860         0.765          -0.100         0              0              0
  73  Drawer          0.376          0.765          -1.509         0              0              0
  74  Cabinet         2.849          0.419          0.409          0              0              0
  75  Drawer          -0.047         0.765          -1.324         0              0              0
  76  Cabinet         2.849          0.419          -0.610         0              0              0
  77  Cabinet         2.849          0.419          -0.959         0              0              0
  78  Cabinet         3.069          1.666          -0.709         0              0              0
  79  Cabinet         2.819          1.768          -1.047         0              0              0
  80  Cabinet         0.620          1.874          -1.259         0              0              0
  81  Cabinet         0.140          1.666          -1.559         0              0              0
  82  Cabinet         -0.189         1.666          -1.340         0              0              0
  83  Cabinet         -0.709         1.963          -0.819         0              0              0
  84  Cabinet         -0.920         1.665          -0.620         0              0              0
  85  Drawer          -0.860         0.190          -0.100         0              0              0
  86  CounterTop      0.133          0.935          -1.457         0              0              0
  87  Drawer          3.020          0.769          0.695          0              180            0
  88  Drawer          -0.677         0.577          -0.700         0              0              0
  89  Drawer          -0.860         0.190          1.429          0              0              0
  90  Drawer          -0.047         0.192          -1.324         0              0              0
  91  Drawer          -0.677         0.193          -0.700         0              0              0
  92  Drawer          -0.860         0.577          -0.100         0              0              0
  93  Sink            3.078          0.887          0.086          0              0              0
  94  StoveBurner     -0.239         0.897          -1.089         0              315            0
  95  Drawer          -0.860         0.190          0.663          0              0              0
  96  CounterTop      1.210          0.937          0.463          0              0              0
  97  Drawer          -0.047         0.381          -1.324         0              0              0
  98  Drawer          -0.677         0.387          -0.700         0              0              0
  99  Mirror          -1.295         1.630          0.045          0              0              0
 100  Drawer          -0.860         0.385          1.429          0              0              0
 101  HousePlant      3.196          0.891          -0.368         0              0              0
 102  StoveKnob       -0.090         0.790          -1.009         270            45             0
 103  StoveKnob       -0.280         0.790          -0.819         270            45             0
 104  StoveKnob       -0.180         0.790          -0.920         270            45             0
 105  StoveKnob       -0.370         0.790          -0.720         270            45             0
 106  GarbageCan      3.137          0.025          1.545          0              225            0
 107  Window          3.703          1.675          0.046          90             90             0
 108  CoffeeMachine   3.214          0.890          0.697          0              270            0
 109  LightSwitch     2.592          1.309          -1.880         0              0              0
 110  SinkBasin       3.069          0.736          0.108          0              90             0
 111  Fridge          1.008          0.029          -1.467         0              0              0
 112  Toaster         -1.035         0.873          -0.396         0              90             0
 113  Microwave       -1.034         0.874          1.428          0              90             0
 114  Faucet          3.305          0.886          0.094          270            180            0
 115  NorthWall
 116  EastWall
 117  SouthWall
 118  WestWall

Plan:
STEP 1: Turn left and go to the fridge. | STEP 2: Take the cup out of the fridge. | STEP 3: Turn around and go to the microwave. | STEP 4: Heat the cup in the microwave. | STEP 5: Turn left and stand in front of the toaster. | STEP 6: Put the cup in the upper cabinet to the left of the toaster. | END