Task: Put the heated cup in the 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          0.899          1.5            0              90             0
   1  Pan             -2.924         0.930          1.712          0              180            0              68
   2  Pencil          -1.860         0.923          2.026          0              0              0              69
   3  Potato          -3.613         0.956          5.182          0              90             0              71
   4  DishSponge      -4.242         0.923          2.300          0              0              0              71
   5  DishSponge      -3.925         1.458          5.475          0              90             0              75
   6  WineBottle      -0.334         0.926          5.932          0              0              0              56
   7  WineBottle      -1.693         0.924          1.8            0              0              0              53
   8  Fork            -1.693         0.924          1.724          0              0              0              53
   9  Spatula         -0.411         0.940          5.273          0              0              0              56
  10  Egg             -3.748         0.104          6.457          0              270            0              97
  11  Egg             -3.748         0.104          6.292          0              270            0              97
  12  Plate           -0.301         1.581          3.228          0              270            0              104
  13  Plate           -4.196         0.791          3.222          0              270            0              103
  14  Knife           -3.733         0.953          5.259          0              90             0              71
  15  Knife           -1.777         0.953          1.951          0              0              0              53
  16  Tomato          -0.334         0.982          5.603          0              0              0              56
  17  Bread           -0.181         1.004          5.603          0              0              0              56
  18  Bread           -0.301         1.415          3.850          0              270            0              104
  19  Mug             -0.409         0.955          6.557          0              270            0              92
  20  Mug             -2.530         1.541          1.633          0              0              0              101
  21  Egg             -4.478         0.959          3.665          0              0              0              71
  22  Apple           -1.860         0.976          1.875          0              0              0              53
  23  Knife           -3.340         0.953          1.875          0              0              0              71
  24  Potato          -0.259         1.369          3.479          0              270            0              104
  25  Fork            -3.613         0.924          5.336          0              180            0              71
  26  Bowl            -0.342         1.682          3.794          0              270            0              104
  27  Plate           -0.334         0.925          5.273          0              0              0              56
  28  Lettuce         -4.191         1.003          2.538          0              278.173        0              71
  29  Bread           -0.401         1.150          3.850          0              270            0              104
  30  Tomato          -4.102         0.980          2.300          0              0              0              71
  31  WineBottle      -4.184         0.924          4.900          0              90             0              71
  32  Spatula         -1.943         0.938          2.026          0              0              0              53
  33  PaperTowelRoll  -0.565         1.029          5.603          0              0              0              56
  34  Cup             -4.478         0.922          3.548          0              0              0              103
  35  Pencil          -0.532         0.746          6.722          0              270            0              91
  36  Pan             -2.454         0.933          2.023          0              240.000        0              59
  37  Pot             -2.469         0.930          1.712          0              270            0              86
  38  SaltShaker      -4.128         0.076          3.374          0              0              0              76
  39  SoapBottle      -0.258         0.924          5.932          0              90             0              56
  40  PepperShaker    -4.205         0.074          4.890          0              0              0              64
  41  ButterKnife     -0.258         0.925          4.944          0              0              0              56
  42  DishSponge      -3.417         0.746          1.927          0              0              0              77
  43  Spoon           -4.249         0.756          2.413          0              90             0              51
  44  Mug             -2.740         1.541          1.601          0              90             0              101
  45  Cabinet         -3.203         1.931          1.777          0              0              0
  46  Cabinet         -3.187         0.390          2.089          0              0              0
  47  Cabinet         -0.637         0.387          6.882          0              180            0
  48  Drawer          -3.797         0.781          1.961          0              0              0
  49  Cabinet         -3.036         0.387          5.029          0              90             0
  50  Drawer          -0.509         0.775          5.268          0              270            0
  51  Drawer          -4.125         0.798          2.499          0              0              0
  52  Cabinet         -0.331         2.249          4.308          0              180            0
  53  CounterTop      -1.872         0.958          1.799          0              0              0
  54  StoveBurner     -2.924         0.924          2.012          0              0              0
  55  Cabinet         -0.331         2.249          6.806          0              180            0
  56  CounterTop      -0.345         0.960          5.603          0              0              0
  57  Cabinet         -3.039         1.935          5.321          0              90             0
  58  Cabinet         -3.922         0.397          2.088          0              0              0
  59  StoveBurner     -2.467         0.924          2.012          0              0              0
  60  Cabinet         -0.331         2.249          5.505          0              180            0
  61  Drawer          -0.509         0.775          4.617          0              270            0
  62  Drawer          -3.509         0.777          5.157          0              180            0
  63  Cabinet         -3.961         0.388          2.878          0              0              0
  64  Cabinet         -3.961         0.388          4.342          0              0              0
  65  Cabinet         -0.637         0.387          5.582          0              180            0
  66  Cabinet         -0.637         0.388          4.299          0              180            0
  67  Cabinet         -0.637         0.388          5.599          0              180            0
  68  StoveBurner     -2.924         0.924          1.712          0              180            0
  69  Drawer          -1.859         0.775          1.961          0              0              0
  70  Cabinet         -0.331         2.249          5.609          0              180            0
  71  CounterTop      -4.260         0.958          4.943          0              90             0
  72  Cabinet         -4.284         1.931          2.226          0              0              0
  73  Cabinet         -0.331         2.249          3.010          0              180            0
  74  Drawer          -3.801         0.777          5.157          0              180            0
  75  Cabinet         -4.112         1.935          5.321          0              90             0
  76  Cabinet         -3.968         0.388          3.662          0              0              0
  77  Drawer          -3.418         0.777          1.961          0              0              0
  78  Drawer          -4.090         0.777          4.661          0              90             0
  79  Faucet          -4.441         0.909          3.288          270            0              0
  80  Cabinet         -0.331         2.249          4.207          0              180            0
  81  Cabinet         -3.961         0.388          2.119          0              0              0
  82  Drawer          -0.509         0.775          5.920          0              270            0
  83  Drawer          -3.193         0.777          5.157          0              180            0
  84  Cabinet         -3.968         0.388          2.894          0              0              0
  85  Cabinet         -3.667         0.387          5.029          0              90             0
  86  StoveBurner     -2.469         0.924          1.712          0              270            0
  87  Cabinet         -1.539         0.388          2.090          0              0              0
  88  Sink            -4.190         0.921          3.279          0              0              0
  89  Cabinet         -3.641         0.387          5.029          0              90             0
  90  Cabinet         -1.583         1.931          1.777          0              0              0
  91  Drawer          -0.509         0.775          6.568          0              270            0
  92  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  93  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  94  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  95  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  96  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  97  GarbageCan      -3.711         -0.030         6.376          0              270            0
  98  Toaster         -3.578         0.912          1.763          0              0              0
  99  Curtains        -4.522         2.252          3.391          90             90             0
 100  Window          -4.868         1.629          3.309          90             270            0
 101  Microwave       -2.693         1.430          1.689          0              0              0
 102  LightSwitch     -1.588         1.169          1.506          0              0              0
 103  SinkBasin       -4.196         0.780          3.276          0              270            0
 104  Fridge          -0.324         -0.001         3.602          0              0              0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Turn left walk straight then head to the sink | STEP 2: Pick up the cup on sink counter beside the faucet | STEP 3: Turn left then head to the microwave  | STEP 4: Open the microwave then put in the cup, get it then close the microwave | STEP 5: Turn left then walk forward | STEP 6: Open the cabinet and put in the cup then close the cabinet | END