Task: Put a heated cup in the cabinet under 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           -1.25          0.900          0.5            0              0              0
   1  SprayBottle     -2.323         0.909          0.118          0              180            0              74
   2  Pen             -0.627         0.913          -1.448         0              0              0              72
   3  Ladle           0.970          1.699          -1.839         0              0              0              61
   4  Kettle          -1.431         0.949          -1.81          0              0              0              82
   5  ButterKnife     -1.809         0.910          -1.620         0              0              0              70
   6  Fork            -1.835         0.911          0.377          0              0              0              74
   7  Fork            0.949          0.773          -1.013         0              270            0              50
   8  Spoon           0.251          0.920          -1.607         0              270            0              51
   9  Spoon           -0.316         0.774          -1.565         0              90             0              71
  10  Spatula         -1.962         0.925          -1.448         0              0              0              70
  11  Egg             1.375          1.396          1.976          0              270            0              91
  12  Cup             -0.685         0.112          -1.535         0              0              0              59
  13  SoapBottle      1.494          1.162          -1.002         0              0              0              78
  14  Tomato          1.459          0.254          1.022          0              0              0              89
  15  Tomato          1.323          1.760          1.901          0              270            0              91
  16  Bowl            -2.201         0.911          0.118          0              0              0              74
  17  SaltShaker      -0.603         1.650          -1.913         0              0              0              54
  18  SaltShaker      1.375          1.157          -1.002         0              0              0              78
  19  Bread           1.093          0.989          -0.309         0              0              0              72
  20  Mug             0.217          0.914          -1.708         0              0              0              51
  21  Apple           1.375          1.402          1.726          0              270            0              91
  22  Apple           -1.886         0.945          -1.879         0              0              0              70
  23  Tomato          1.341          0.254          1.08           0              0              0              89
  24  Glassbottle     -2.445         0.911          0.032          0              0              0              74
  25  Knife           1.454          1.191          -0.659         0              90             0              78
  26  Plate           0.528          0.117          -1.633         0              90             0              66
  27  Fork            1.414          1.162          -1.345         0              0              0              78
  28  Ladle           1.342          1.700          -1.342         0              0              0              64
  29  Potato          1.414          1.203          0.370          0              90             0              78
  30  Lettuce         1.426          1.436          2.226          0              270            0              91
  31  Kettle          -1.431         0.949          -1.525         0              0              0              80
  32  Pen             0.852          0.913          -1.534         0              0              0              72
  33  SaltShaker      -0.778         0.906          -1.960         0              0              0              72
  34  Cup             -0.063         0.783          -1.707         0              270            0              93
  35  Egg             0.251          0.948          -1.808         0              270            0              51
  36  Spatula         -2.079         0.925          0.463          0              0              0              74
  37  Bowl            -0.627         0.911          -1.789         0              0              0              72
  38  SprayBottle     -0.406         0.116          -1.489         0              0              0              58
  39  Pan             -1.081         0.949          -1.81          0              0              0              68
  40  SoapBottle      -0.401         0.911          -1.704         0              180            0              72
  41  Pot             0.967          0.9            0.249          0              0              0              72
  42  ButterKnife     -2.323         0.910          0.291          0              0              0              74
  43  PepperShaker    -0.685         0.106          -1.438         0              0              0              59
  44  DishSponge      1.036          0.774          -0.665         0              0              0              63
  45  Bread           1.454          1.240          -1.688         0              0              0              78
  46  Apple           1.473          1.300          0.188          0              270            0              94
  47  Spoon           0.852          0.912          -1.534         0              0              0              76
  48  Mug             0.149          0.914          -1.808         0              270            0              51
  49  Drawer          0.860          0.75           0.430          0              0              0
  50  Drawer          0.871          0.75           -1.134         0              0              0
  51  Sink            0.156          0.817          -1.801         0              270            0
  52  Cabinet         -0.868         2.005          -1.690         0              0              0
  53  Cabinet         -1.661         2.059          -1.684         0              90             0
  54  Cabinet         -0.817         2.059          -1.689         0              0              0
  55  Cabinet         0.860          0.402          0.665          0              0              0
  56  Cabinet         0.860          0.402          -0.552         0              0              0
  57  Cabinet         0.860          0.402          -1.365         0              0              0
  58  Cabinet         -0.244         0.402          -1.389         0              0              0
  59  Cabinet         -0.815         0.402          -1.389         0              0              0
  60  Cabinet         1.159          2.059          -0.334         0              0              0
  61  Cabinet         0.488          2.059          -1.689         0              0              0
  62  Cabinet         -0.193         2.059          -1.689         0              0              0
  63  Drawer          0.860          0.75           -0.699         0              0              0
  64  Cabinet         1.159          2.059          -1.019         0              0              0
  65  Cabinet         -1.611         2.005          -1.690         0              0              0
  66  Cabinet         0.832          0.401          -1.393         0              90             0
  67  Drawer          -2.105         0.75           -1.389         0              0              0
  68  StoveBurner     -1.081         0.941          -1.809         0              0              0
  69  Cabinet         -0.202         0.401          -1.391         0              90             0
  70  CounterTop      -1.973         0.945          -1.707         0              0              0
  71  Drawer          -0.375         0.75           -1.389         0              0              0
  72  CounterTop      1.164          0.946          -0.649         0              0              0
  73  StoveBurner     -1.081         0.941          -1.527         0              0              0
  74  CounterTop      -2.096         0.945          0.291          0              0              0
  75  Cabinet         -2.237         0.402          -1.389         0              0              0
  76  Drawer          0.584          0.75           -1.389         0              0              0
  77  Drawer          -1.795         0.75           -1.389         0              0              0
  78  CounterTop      1.5            1.197          -0.654         0              0              0
  79  Cabinet         -1.667         0.402          -1.389         0              0              0
  80  StoveBurner     -1.430         0.941          -1.525         0              0              0
  81  Drawer          -0.685         0.75           -1.389         0              0              0
  82  StoveBurner     -1.430         0.941          -1.809         0              0              0
  83  LightSwitch     -2.539         1.289          2.568          0              90             0
  84  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  85  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  86  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  87  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  88  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  89  GarbageCan      1.343          0.015          1.041          0              0              0
  90  HousePlant      1.440          1.153          0.593          0              0              0
  91  Fridge          1.417          0.0            2.101          0              0              0
  92  Window          -0.486         1.452          3.302          90             0              0
  93  SinkBasin       -0.063         0.765          -1.713         0              270            0
  94  Microwave       1.422          1.150          0.022          0              270            0
  95  Toaster         -2.066         0.900          -1.848         0              0              0
  96  Stool           -1.994         0.010          0.882          0              0              0
  97  Faucet          -0.096         1.041          -1.867         0              270            0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Move to the sink to the right of the fridge | STEP 2: pick up a cup from the sink | STEP 3: move to the microwave to the left of the sink | STEP 4: heat the cup in the microwave | STEP 5: move to the cabinet to the left of the sink | STEP 6: put the cup in the cabinet | END