Task: To heat a cup and put it on the counter next to the sink.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.908          1.75           0              0              0
   1  SprayBottle     1.189          0.085          1.409          0              0              0              98
   2  SprayBottle     1.034          0.885          2.584          0              0              0              109
   3  Potato          -1.263         1.681          1.289          0              90             0              97
   4  CellPhone       0.951          0.884          2.477          0              0              0              109
   5  CellPhone       1.200          0.884          2.477          0              0              0              109
   6  DishSponge      -0.082         0.758          -0.533         0              0              0              104
   7  ButterKnife     -1.290         0.748          2.459          0              0              0              58
   8  ButterKnife     1.200          0.886          2.261          0              90             0              109
   9  Glassbottle     1.262          0.116          1.081          0              0              0              74
  10  WineBottle      1.207          0.912          -0.428         0              0              0              77
  11  WineBottle      -1.162         0.342          0.883          0              90             0              97
  12  Spoon           -1.105         0.750          2.087          0              0              0              58
  13  Fork            1.367          0.886          2.153          0              0              0              109
  14  Spatula         1.284          0.901          2.369          0              0              0              109
  15  Spatula         -1.513         0.927          -0.562         0              90             0              83
  16  Pot             0.802          0.939          -0.473         0              0              0              85
  17  Egg             -1.383         0.783          2.273          0              0              0              58
  18  Plate           1.286          0.912          -0.144         0              0              0              77
  19  Plate           1.207          0.912          0.422          0              0              0              77
  20  Knife           1.117          0.908          2.584          0              90             0              109
  21  Knife           -1.197         0.770          2.459          0              270            0              58
  22  Tomato          -1.320         0.800          0.883          0              90             0              97
  23  Tomato          0.951          0.936          2.800          0              0              0              109
  24  SoapBottle      1.444          0.912          -0.428         0              0              0              77
  25  Bowl            -1.320         1.635          0.781          0              90             0              97
  26  Lettuce         1.128          0.982          0.139          0              0              0              77
  27  Lettuce         -1.197         0.819          2.830          0              0              0              58
  28  SaltShaker      -1.294         2.149          0.819          0              0              0              76
  29  SaltShaker      1.450          0.882          2.261          0              0              0              109
  30  Mug             -1.135         0.907          -0.732         0              90             0              83
  31  Mug             -1.320         1.631          0.984          0              90             0              97
  32  Bread           -1.206         1.484          0.778          0              90             0              97
  33  Glassbottle     -0.813         0.912          -0.509         0              0              0              83
  34  Fork            -1.197         0.750          1.902          0              0              0              58
  35  Kettle          0.802          0.939          -0.740         0              90             0              86
  36  Tomato          -1.149         1.686          0.984          0              90             0              97
  37  Plate           1.128          0.912          0.706          0              0              0              77
  38  CellPhone       -1.211         0.909          -0.477         0              0              0              83
  39  Lettuce         -1.012         0.820          2.459          0              0              0              58
  40  Pot             -1.206         0.751          1.197          0              90             0              97
  41  SoapBottle      -1.197         0.750          2.644          0              180            0              58
  42  WineBottle      0.951          0.887          2.261          0              0              0              109
  43  Spatula         0.041          0.773          -0.612         0              0              0              104
  44  Bowl            -1.176         0.115          0.248          0              180            0              80
  45  Apple           1.357          0.146          1.503          0              0              0              98
  46  Cup             -1.194         0.340          1.092          0              90             0              97
  47  Knife           1.286          0.933          0.706          0              90             0              77
  48  Egg             -0.144         0.792          -0.730         0              0              0              104
  49  SaltShaker      1.175          0.112          0.732          0              0              0              69
  50  PepperShaker    1.200          0.882          2.800          0              0              0              109
  51  Potato          -0.020         0.803          -0.691         0              0              0              104
  52  ButterKnife     1.367          0.886          2.584          0              0              0              109
  53  DishSponge      -0.919         0.749          2.087          0              0              0              58
  54  Pan             0.502          0.939          -0.740         0              90             0              84
  55  Spoon           -1.105         0.750          2.459          0              0              0              58
  56  SprayBottle     -0.955         1.655          -0.724         0              0              0              63
  57  Mug             -1.263         1.283          0.673          0              90             0              97
  58  DiningTable     -1.182         0.006          2.414          0              90             0
  59  Cabinet         1.184          2.059          0.375          0              0              0
  60  Cabinet         1.184          2.059          -0.635         0              0              0
  61  Cabinet         0.591          2.309          -0.645         0              0              0
  62  Cabinet         -0.574         2.059          -0.644         0              0              0
  63  Cabinet         -1.103         2.059          -0.644         0              0              0
  64  Cabinet         -1.185         2.059          -0.331         0              0              0
  65  Cabinet         -1.185         2.059          -0.281         0              0              0
  66  Cabinet         -1.185         2.059          0.375          0              0              0
  67  Cabinet         1.184          2.309          1.174          0              0              0
  68  Cabinet         1.184          2.309          0.424          0              0              0
  69  Cabinet         0.988          0.402          0.581          0              0              0
  70  Cabinet         0.988          0.402          0.531          0              0              0
  71  Cabinet         0.988          0.402          -0.178         0              0              0
  72  Cabinet         0.335          0.402          -0.348         0              0              0
  73  Cabinet         -0.374         0.402          -0.348         0              0              0
  74  Cabinet         0.988          0.402          1.231          0              0              0
  75  Cabinet         -1.185         2.309          1.374          0              0              0
  76  Cabinet         -1.185         2.309          0.424          0              0              0
  77  CounterTop      1.274          0.947          0.064          0              0              0
  78  Drawer          1.116          0.792          -0.015         0              0              0
  79  Drawer          -1.116         0.792          0.210          0              180            0
  80  Cabinet         -0.990         0.402          0.374          0              180            0
  81  Drawer          -1.116         0.792          -0.170         0              180            0
  82  Cabinet         -0.990         0.402          -0.335         0              180            0
  83  CounterTop      -1.001         0.947          -0.669         0              0              0
  84  StoveBurner     0.502          0.932          -0.740         0              90             0
  85  StoveBurner     0.801          0.932          -0.473         0              0              0
  86  StoveBurner     0.801          0.932          -0.740         0              90             0
  87  Drawer          1.116          0.792          1.081          0              0              0
  88  Sink            -0.013         0.912          -0.615         0              0              0
  89  Drawer          1.116          0.792          0.732          0              0              0
  90  StoveBurner     0.502          0.932          -0.469         0              0              0
  91  Drawer          1.116          0.792          0.367          0              0              0
  92  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  93  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  94  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  95  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  96  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  97  Fridge          -1.300         0.008          0.987          0              90             0
  98  GarbageCan      1.296          -0.024         1.465          0              0              0
  99  Window          -0.012         1.641          -0.972         90             0              0
 100  Window          1.598          1.646          2.489          90             270            0
 101  Toaster         1.356          0.900          1.044          0              270            0
 102  LightSwitch     0.118          1.353          3.799          0              180            0
 103  Microwave       -1.343         0.900          0.053          0              90             0
 104  SinkBasin       -0.029         0.748          -0.612         0              0              0
 105  Faucet          -0.026         0.927          -0.808         0              0              0
 106  Shelf           -1.182         0.127          2.414          0              90             0
 107  Stool           1.140          0.007          3.262          1.206          20.753         0
 108  Shelf           -1.182         0.435          2.414          0              90             0
 109  DiningTable     1.169          0.014          2.569          0              0              1.896
 110  NorthWall
 111  EastWall
 112  SouthWall
 113  WestWall

Plan:
STEP 1: Turn around and walk to the fridge.  | STEP 2: Open the fridge door, pick up the cup from the second shelf, close the door.  | STEP 3: Walk to the microwave to the left of the fridge.  | STEP 4: Open the microwave door, put the cup inside of the microwave, close the door, heat the cup, open the door, take the cup out, close the door.  | STEP 5: Turn left and face the counter to the left of the sink.  | STEP 6: Put the cup down on the counter to the left of the sink.  | END