Task: Place a warmed black cup in the cabinet beneath the microwave.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.901          -2.25          0              90             0
   1  DishSponge      -1.638         0.790          -3.661         0              0              0              84
   2  DishSponge      -0.257         0.915          -1.493         0              0              0              69
   3  ButterKnife     -2.809         0.713          -0.640         0              135            0              86
   4  ButterKnife     -3.140         0.913          -3.428         0              0              0              42
   5  Spoon           -0.095         0.917          -1.677         0              0              0              69
   6  Spoon           -0.095         0.917          -1.432         0              0              0              69
   7  Fork            -3.292         0.717          -0.370         0              270            0              86
   8  Cup             -0.413         0.080          -0.760         0              0              0              46
   9  Plate           -0.328         0.911          -3.112         0              0              0              42
  10  Plate           -1.115         0.078          -3.635         0              0              0              57
  11  SoapBottle      -0.338         0.915          -0.490         0              0              0              69
  12  Bowl            -0.324         1.294          -3.758         0              45             0              62
  13  Bowl            -3.167         0.911          -3.729         0              0              0              42
  14  SaltShaker      -1.431         0.079          -3.595         0              0              0              58
  15  SaltShaker      -1.058         0.910          -3.729         0              0              0              42
  16  Bread           -0.650         0.954          -3.878         0              0              0              42
  17  Mug             -2.270         0.908          -3.952         0              0              0              42
  18  Mug             -1.262         0.908          -3.581         0              0              0              42
  19  Apple           -0.193         0.122          -0.157         0              270            0              81
  20  Apple           -2.629         0.956          -3.804         0              0              0              42
  21  Pot             -0.165         0.975          -2.030         0              180            0              73
  22  Egg             -3.079         1.049          -1.817         0              90             0              83
  23  Cup             -1.914         0.790          -3.790         0              0              0              84
  24  Bread           -3.225         0.954          -2.926         0              0              0              42
  25  Fork            -0.338         0.916          -1.616         0              0              0              69
  26  Pan             -0.394         0.973          -2.414         0              0              0              67
  27  Potato          -1.638         0.834          -3.790         0              0              0              84
  28  Lettuce         -2.449         1.001          -3.655         0              0              0              42
  29  Tomato          -3.056         0.963          -3.327         0              0              0              42
  30  Apple           -0.065         1.055          -0.802         0              270            0              79
  31  SoapBottle      -2.765         0.716          -0.596         0              135            0              86
  32  Spatula         -0.496         0.928          -2.811         0              270            0              72
  33  SaltShaker      -3.313         1.288          -2.805         0              0              0              54
  34  Knife           -0.471         0.778          -2.913         0              270            0              72
  35  PepperShaker    -3.393         0.910          -2.825         0              0              0              42
  36  ButterKnife     -2.439         0.717          -0.433         0              270            0              86
  37  Plate           -0.447         0.911          -3.878         0              0              0              42
  38  DishSponge      -0.076         0.913          -3.012         0              0              0              42
  39  Spoon           -0.530         0.748          -0.761         0              90             0              68
  40  Mug             -2.930         0.762          -0.358         0              135            0              82
  41  Bowl            -3.182         1.396          -1.879         0              90             0              83
  42  CounterTop      -1.789         0.949          -3.803         0              0              0
  43  Cabinet         -0.577         0.388          -3.476         0              0              0
  44  Cabinet         -0.605         0.388          -3.511         0              0              0
  45  Cabinet         -2.976         0.388          -3.201         0              0              0
  46  Cabinet         -0.577         0.388          -0.447         0              0              0
  47  Cabinet         -0.577         0.388          -1.725         0              0              0
  48  Cabinet         -0.226         1.803          -1.743         0              0              0
  49  Cabinet         -0.228         1.799          -0.447         0              0              0
  50  Cabinet         -6.010         1.139          -6.019         0              0              0
  51  Cabinet         -3.022         2.098          -2.681         0              0              0
  52  Cabinet         -3.022         2.098          -1.743         0              0              0
  53  Cabinet         -0.577         0.388          -2.736         0              0              0
  54  Cabinet         -3.232         1.803          -3.343         0              0              0
  55  Cabinet         -2.811         1.810          -3.764         0              0              0
  56  Cabinet         -1.233         1.810          -3.764         0              0              0
  57  Cabinet         -1.364         0.388          -3.511         0              0              0
  58  Cabinet         -1.380         0.388          -3.511         0              0              0
  59  Cabinet         -0.226         1.803          -2.725         0              0              0
  60  Cabinet         -0.236         2.098          -1.767         0              0              0
  61  Cabinet         -0.236         2.098          -2.705         0              0              0
  62  Cabinet         -0.193         1.210          -4.239         0              0              0
  63  Cabinet         -2.148         0.388          -3.511         0              0              0
  64  Drawer          -3.104         0.797          -2.968         0              0              0
  65  Drawer          -0.449         0.797          -1.410         0              0              0
  66  Sink            -1.786         0.902          -3.748         0              0              0
  67  StoveBurner     -0.376         0.936          -2.451         0              0              0
  68  Drawer          -0.449         0.797          -0.762         0              0              0
  69  CounterTop      -0.268         0.951          -1.089         0              0              0
  70  Drawer          -0.449         0.797          -3.348         0              0              0
  71  StoveBurner     -0.376         0.936          -2.031         0              180            0
  72  Drawer          -0.449         0.797          -2.968         0              0              0
  73  StoveBurner     -0.165         0.936          -2.030         0              180            0
  74  StoveBurner     -0.165         0.936          -2.450         0              0              0
  75  StoveKnob       -0.568         0.903          -2.313         45             270            0
  76  StoveKnob       -0.568         0.903          -2.470         45             270            0
  77  StoveKnob       -0.568         0.903          -2.166         45             270            0
  78  StoveKnob       -0.568         0.903          -2.003         45             270            0
  79  Microwave       -0.143         0.903          -0.908         0              270            0
  80  LightSwitch     -1.108         1.457          0.338          0              180            0
  81  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  82  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  83  Fridge          -3.188         0.0            -2.184         0              0              0
  84  SinkBasin       -1.786         0.779          -3.747         0              0              0
  85  Toaster         -0.230         0.903          -3.406         0              270            0
  86  DiningTable     -2.800         0.003          -0.505         0              0              0
  87  Chair           -3.044         0.003          -1.223         0              32.194         0
  88  Faucet          -1.791         1.136          -3.913         0              270            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn left towards the door and then turn left towards the coffee maker on the round table. | STEP 2: Pick up the cup on the coffee maker. | STEP 3: Turn around and walk towards the microwave. | STEP 4: Place the cup in the microwave, heat it up, and take it back out. | STEP 5: Take a step backwards to find the right cabinet below the microwave. | STEP 6: Open the cabinet, place the cup in it, and close the cabinet. | END