Task: To place a heated cup inside 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           -1.25          0.900          -1.0           0              0              0
   1  Potato          -2.560         0.926          -0.633         0              270            0              85
   2  Potato          -0.321         1.520          -0.413         0              270            0              78
   3  DishSponge      -0.509         0.751          -2.846         0              0              0              53
   4  ButterKnife     -4.080         0.760          -3.227         0              109.125        0              84
   5  ButterKnife     -2.962         0.894          -0.376         0              270            0              85
   6  Spoon           -4.080         0.761          -3.227         0              109.125        0              84
   7  Spoon           -0.157         0.942          -1.538         0              0              0              66
   8  Spatula         -3.224         0.775          -3.590         0              109.125        0              84
   9  Egg             -4.121         0.801          -3.345         0              109.125        0              84
  10  Egg             -0.237         0.983          -2.960         0              45             0              48
  11  Cup             -3.565         0.895          -0.204         0              270            0              85
  12  Cup             -4.122         0.691          -0.430         0              0              0              83
  13  Cup             -3.601         0.760          -3.261         0              109.125        0              84
  14  Plate           -4.182         0.704          -0.187         0              0              0              83
  15  Tomato          -0.252         1.337          -0.297         0              270            0              78
  16  Tomato          -3.882         0.742          -0.369         0              0              0              83
  17  Bowl            -0.126         1.937          -2.285         0              0              0              58
  18  Bread           -2.359         0.976          -0.204         0              270            0              85
  19  Lettuce         -0.321         1.579          -0.994         0              270            0              78
  20  Lettuce         -3.925         0.851          -3.399         0              244.125        0              84
  21  SaltShaker      -2.560         0.890          -0.119         0              270            0              85
  22  PepperShaker    -1.185         0.750          -3.447         0              0              0              54
  23  PepperShaker    -3.704         0.756          -3.500         0              244.125        0              84
  24  Mug             -0.359         1.483          -0.529         0              270            0              78
  25  Mug             -3.942         0.685          -0.491         0              0              0              83
  26  Apple           -4.002         0.752          -0.126         0              0              0              83
  27  SoapBottle      -0.057         1.500          -2.964         0              270            0              60
  28  Pot             -0.437         0.961          -1.845         0              180            0              49
  29  Fork            -0.721         0.814          -3.491         0              315            0              77
  30  Cup             -3.586         0.760          -2.841         0              199.125        0              84
  31  Tomato          -0.293         1.337          -0.762         0              270            0              78
  32  Pan             -0.222         0.961          -2.243         0              0              0              67
  33  Plate           -0.351         1.517          -3.471         0              45             0              60
  34  Bread           -3.364         0.976          -0.376         0              270            0              85
  35  Spatula         -0.818         0.828          -3.510         0              225            0              77
  36  Knife           -1.471         0.967          -3.595         0              0              0              48
  37  SaltShaker      -2.560         0.890          -0.462         0              270            0              85
  38  PepperShaker    -0.097         1.938          -0.766         0              0              0              55
  39  ButterKnife     -0.157         0.941          -1.581         0              0              0              66
  40  Apple           -0.397         1.550          -0.297         0              270            0              78
  41  DishSponge      -0.097         1.941          -0.660         0              0              0              55
  42  Potato          -2.962         0.926          -0.119         0              270            0              85
  43  Egg             -4.002         0.731          -0.369         0              0              0              83
  44  Spoon           -2.761         0.895          -0.290         0              270            0              85
  45  Lettuce         -3.287         0.851          -3.298         0              244.125        0              84
  46  Mug             -3.882         0.686          -0.187         0              90             0              83
  47  Bowl            -0.212         1.500          -2.700         0              0              0              65
  48  CounterTop      -1.937         0.977          -3.673         0              0              0
  49  StoveBurner     -0.437         0.924          -1.845         0              180            0
  50  StoveBurner     -0.222         0.924          -1.845         0              180            0
  51  StoveBurner     -0.437         0.924          -2.243         0              0              0
  52  Drawer          -0.500         0.779          -1.450         0              0              0
  53  Drawer          -0.481         0.777          -2.739         0              0              0
  54  Drawer          -1.154         0.782          -3.499         0              0              0
  55  Cabinet         -0.337         2.110          -0.390         0              0              0
  56  Cabinet         -0.337         2.110          -1.272         0              0              0
  57  Cabinet         -0.337         2.110          -1.631         0              0              0
  58  Cabinet         -0.337         2.110          -2.497         0              0              0
  59  Cabinet         -0.337         1.891          -1.286         0              0              0
  60  Cabinet         -0.346         1.891          -3.293         0              0              0
  61  Cabinet         -0.629         0.388          -2.513         0              0              0
  62  Cabinet         -0.633         0.388          -3.008         0              0              0
  63  Cabinet         -1.010         0.388          -3.368         0              0              0
  64  Cabinet         -0.629         0.388          -1.614         0              0              0
  65  Cabinet         -0.327         1.886          -2.513         0              0              0
  66  CounterTop      -0.326         0.976          -1.450         0              0              0
  67  StoveBurner     -0.222         0.924          -2.243         0              0              0
  68  Sink            -0.600         0.929          -3.388         0              0              0
  69  StoveKnob       -0.617         0.899          -1.833         315            90             180
  70  StoveKnob       -0.617         0.899          -2.129         315            90             180
  71  StoveKnob       -0.617         0.899          -2.289         315            90             180
  72  StoveKnob       -0.617         0.899          -1.975         315            90             180
  73  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  74  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  75  Window          -1.389         1.610          -4.113         90             0              0
  76  LightSwitch     -4.372         1.493          -1.031         0              90             0
  77  SinkBasin       -0.614         0.802          -3.384         0              315            0
  78  Fridge          -0.314         0.0            -0.646         0              0              0
  79  Toaster         -1.970         0.930          -3.763         0              0              0
  80  Microwave       -0.216         1.470          -2.054         0              270            0
  81  Blinds          -1.373         2.205          -3.961         0              0              0
  82  Faucet          -0.393         0.930          -3.614         270            225            0
  83  SideTable       -4.030         0.002          -0.301         0              185.034        0
  84  DiningTable     -3.586         0.000          -3.258         0              0              0
  85  DiningTable     -3.224         -0.003         -0.453         0              0              0
  86  Shelf           -4.030         0.259          -0.301         0              185.034        0
  87  Shelf           -4.030         0.489          -0.301         0              185.034        0
  88  EastWall
  89  EastWall
  90  SouthWall

Plan:
STEP 1: Turn around and go across the room to face the black table  | STEP 2: Pick up the cup from the center of the table | STEP 3: Turn around and go to the stove | STEP 4: Place the cup inside the microwave above the stove, turn the microwave on for a few seconds, and take out the cup | STEP 5: Take the cup  and go to the right to the sink | STEP 6: Put the cup inside the cabinet above the sink | END