Task: Heat up a cup from the freezer and put it in a cabinet.

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          2.25           0              0              0
   1  Pan             -2.538         0.910          1.230          0              0              0              74
   2  Potato          -2.485         1.125          -0.602         0              90             0              78
   3  DishSponge      -0.730         0.910          0.423          0              0              0              46
   4  ButterKnife     1.519          0.910          -0.816         0              45             0              56
   5  Kettle          -2.605         1.939          -0.634         0              0              0              69
   6  Kettle          -2.564         1.538          2.477          0              270            0              50
   7  Spoon           1.372          0.922          -1.150         0              225            0              60
   8  Spatula         -2.206         0.925          1.830          0              0              0              74
   9  Pot             1.412          0.929          -0.335         0              0              0              47
  10  Pot             1.691          0.929          0.064          0              0              0              57
  11  Egg             1.646          0.215          0.596          0              0              0              85
  12  Knife           -2.538         0.936          1.530          0              0              0              74
  13  Knife           1.684          0.936          0.494          0              180            0              55
  14  SoapBottle      1.512          0.913          0.435          0              0              0              55
  15  SoapBottle      -0.211         0.912          1.764          0              0              0              46
  16  Bowl            -2.313         0.112          0.437          0              0              0              71
  17  PepperShaker    -2.685         1.532          1.265          0              0              0              59
  18  PepperShaker    -0.081         0.905          1.094          0              0              0              46
  19  Lettuce         -0.341         0.994          0.423          0              0              0              46
  20  Lettuce         -2.621         0.994          0.631          0              0              0              74
  21  Bread           -0.341         0.996          1.540          0              0              0              46
  22  Apple           -0.471         0.972          0.870          0              0              0              46
  23  Pan             0.0            0.9            0.948          0              29.999         0              46
  24  Knife           -2.287         0.798          0.391          0              90             0              63
  25  Apple           1.562          0.246          0.706          0              0              0              85
  26  Bowl            -2.455         0.908          1.530          0              0              0              74
  27  Fork            -0.341         0.911          0.870          0              0              0              46
  28  Bread           0.048          0.996          1.764          0              0              0              46
  29  Plate           -0.601         0.913          1.764          0              0              0              46
  30  Egg             -0.081         0.941          0.423          0              0              0              46
  31  Kettle          0.854          0.900          -1.790         0              0              0              56
  32  Potato          -2.513         0.631          -0.693         0              90             0              78
  33  SaltShaker      0.195          0.905          -1.625         0              0              0              56
  34  Lettuce         -0.341         0.994          1.317          0              0              0              46
  35  Cup             -2.485         1.087          -0.979         0              90             0              78
  36  SoapBottle      1.687          0.187          0.706          0              0              0              85
  37  Spatula         -0.471         0.925          1.094          0              0              0              46
  38  PaperTowelRoll  -0.081         1.015          0.647          0              0              0              46
  39  ButterKnife     1.318          0.920          -1.204         0              225            0              60
  40  PepperShaker    -2.313         0.109          1.216          0              0              0              52
  41  DishSponge      -2.375         1.583          -1.777         0              180            0              73
  42  Pot             -2.289         0.914          0.631          0              0              0              74
  43  Spoon           -0.730         0.912          0.870          0              0              0              46
  44  Tomato          -2.374         0.637          -0.783         0              90             0              78
  45  Mug             -2.578         1.295          -0.790         0              180            0              78
  46  CounterTop      -0.360         0.946          1.093          0              0              0
  47  StoveBurner     1.412          0.923          -0.335         0              0              0
  48  StoveKnob       1.878          1.093          0.018          287.989        90             0
  49  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  50  Cabinet         -2.446         1.948          2.924          0              0              0
  51  Drawer          -2.276         0.792          0.902          0              0              0
  52  Cabinet         -2.145         0.402          1.578          0              0              0
  53  Cabinet         0.149          2.008          -1.603         0              90             0
  54  StoveBurner     1.691          0.923          -0.335         0              0              0
  55  CounterTop      1.585          0.946          0.405          0              0              0
  56  CounterTop      0.474          0.946          -1.625         0              0              0
  57  StoveBurner     1.691          0.923          0.064          0              0              0
  58  Cabinet         -2.446         1.948          1.687          0              0              0
  59  Cabinet         -2.446         1.948          1.640          0              0              0
  60  Sink            1.381          0.810          -1.271         0              225            0
  61  StoveKnob       1.878          1.093          0.150          287.989        90             0
  62  Cabinet         -2.145         0.402          -0.236         0              0              0
  63  Drawer          -2.276         0.792          0.437          0              0              0
  64  Drawer          -2.276         0.792          -0.027         0              0              0
  65  Cabinet         1.572          2.008          0.474          0              0              0
  66  Cabinet         1.572          2.008          -0.775         0              0              0
  67  Cabinet         -2.445         2.148          -1.275         0              0              0
  68  Cabinet         -2.446         2.148          -0.284         0              0              0
  69  Cabinet         -2.446         1.948          0.355          0              0              0
  70  Cabinet         -2.446         1.948          0.405          0              0              0
  71  Cabinet         -2.145         0.402          0.644          0              0              0
  72  Cabinet         -2.145         0.402          0.695          0              0              0
  73  Cabinet         -2.285         1.968          -1.325         0              180            0
  74  CounterTop      -1.485         0.946          1.319          0              0              0
  75  StoveBurner     1.411          0.923          0.064          0              0              0
  76  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  77  Drawer          -2.276         0.792          1.368          0              0              0
  78  Fridge          -2.475         0.0            -0.782         0              90             0
  79  LightSwitch     -0.929         1.350          -1.950         0              0              0
  80  Toaster         -2.564         0.900          1.876          0              90             0
  81  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  82  Window          1.508          1.534          -1.496         90             135            0
  83  Window          1.973          1.521          1.121          90             90             0
  84  SinkBasin       1.149          0.753          -1.380         0              225            0
  85  GarbageCan      1.646          -0.000         0.679          0              0              0
  86  Microwave       -2.580         0.900          2.440          0              90             0
  87  Stool           0.439          0.010          0.747          0              0              0
  88  Stool           -2.303         0.010          1.839          0              0              0
  89  Faucet          1.235          1.138          -1.473         0              225            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Turn around from the wall and start walking to the counter across the room, turn right at the counter and walk to the refrigerator.   | STEP 2: Open the freezer door, grab a cup, and shut the freezer door. | STEP 3: Carry the cup and turn right and walk to the wall.  Turn left and face the microwave. | STEP 4: Open the microwave door, put the cup in the microwave, turn on the microwave, open the door and take out cup. | STEP 5: Open the cabinet above the microwave. | STEP 6: Put the cup in the cabinet and close the door. | END