Task: Place a heated cup 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           -2.25          0.900          -1.5           0              180            0
   1  Pan             -0.222         0.961          -1.845         0              180            0              46
   2  Pan             -0.222         0.961          -2.243         0              0              0              63
   3  Potato          -4.242         0.723          -0.491         0              0              0              79
   4  Fork            -3.364         0.895          -0.376         0              90             0              81
   5  Fork            -3.565         0.895          -0.548         0              270            0              81
   6  Spoon           -1.471         0.943          -3.751         0              0              0              44
   7  Spatula         -3.882         0.705          -0.369         0              90             0              79
   8  Spatula         -0.740         0.828          -3.588         0              45             0              73
   9  Cup             -0.126         1.939          -2.179         0              0              0              54
  10  Plate           -0.397         0.956          -2.788         0              0              0              44
  11  Plate           -0.321         1.502          -0.297         0              270            0              74
  12  Knife           -2.560         0.920          -0.290         0              270            0              81
  13  Tomato          -0.359         1.539          -0.762         0              270            0              74
  14  Bowl            -0.376         1.284          -0.645         0              270            0              74
  15  Bread           -2.560         0.976          -0.462         0              270            0              81
  16  Bread           -2.560         0.976          -0.204         0              270            0              81
  17  Lettuce         -3.710         0.851          -2.850         0              334.125        0              80
  18  Lettuce         -3.396         0.851          -3.073         0              244.125        0              80
  19  Mug             -2.514         0.972          -3.649         0              0              0              70
  20  Mug             -0.469         0.075          -2.793         0              0              0              57
  21  Apple           -3.942         0.752          -0.491         0              0              0              79
  22  Apple           -3.565         0.956          -0.119         0              270            0              81
  23  SoapBottle      -3.878         0.758          -2.931         0              334.125        0              80
  24  Pot             -0.606         0.802          -3.419         0              315            0              73
  25  Fork            -3.369         0.760          -3.129         0              244.125        0              80
  26  Cup             -0.552         0.942          -1.406         0              0              0              62
  27  Tomato          -2.354         0.150          -3.571         0              0              0              69
  28  Pan             -2.962         0.892          -0.376         0              0              0              81
  29  Plate           -0.173         1.516          -2.700         0              0              0              61
  30  Bread           -3.364         0.976          -0.462         0              270            0              81
  31  Spatula         -3.934         0.775          -3.278         0              109.125        0              80
  32  Knife           -1.694         0.967          -3.829         0              90             0              44
  33  SaltShaker      -0.465         0.743          -1.525         0              0              0              48
  34  PepperShaker    -2.962         0.890          -0.119         0              270            0              81
  35  ButterKnife     -2.359         0.894          -0.290         0              0              0              81
  36  Apple           -0.334         1.348          -0.413         0              270            0              74
  37  DishSponge      -0.394         0.940          -1.406         0              0              0              62
  38  Potato          -3.560         0.792          -3.143         0              109.125        0              80
  39  Egg             -4.242         0.732          -0.126         0              0              0              79
  40  Spoon           -3.942         0.692          -0.308         0              0              0              79
  41  Lettuce         -4.062         0.782          -0.308         0              0              0              79
  42  Mug             -0.252         1.281          -0.878         0              270            0              74
  43  Bowl            -0.234         1.573          -1.937         0              270            0              76
  44  CounterTop      -1.937         0.977          -3.673         0              0              0
  45  StoveBurner     -0.437         0.924          -1.845         0              180            0
  46  StoveBurner     -0.222         0.924          -1.845         0              180            0
  47  StoveBurner     -0.437         0.924          -2.243         0              0              0
  48  Drawer          -0.500         0.779          -1.450         0              0              0
  49  Drawer          -0.481         0.777          -2.739         0              0              0
  50  Drawer          -1.154         0.782          -3.499         0              0              0
  51  Cabinet         -0.337         2.110          -0.390         0              0              0
  52  Cabinet         -0.337         2.110          -1.272         0              0              0
  53  Cabinet         -0.337         2.110          -1.631         0              0              0
  54  Cabinet         -0.337         2.110          -2.497         0              0              0
  55  Cabinet         -0.337         1.891          -1.286         0              0              0
  56  Cabinet         -0.346         1.891          -3.293         0              0              0
  57  Cabinet         -0.629         0.388          -2.513         0              0              0
  58  Cabinet         -0.633         0.388          -3.008         0              0              0
  59  Cabinet         -1.010         0.388          -3.368         0              0              0
  60  Cabinet         -0.629         0.388          -1.614         0              0              0
  61  Cabinet         -0.327         1.886          -2.513         0              0              0
  62  CounterTop      -0.326         0.976          -1.450         0              0              0
  63  StoveBurner     -0.222         0.924          -2.243         0              0              0
  64  Sink            -0.600         0.929          -3.388         0              0              0
  65  StoveKnob       -0.617         0.899          -1.833         315            90             180
  66  StoveKnob       -0.617         0.899          -2.129         315            90             180
  67  StoveKnob       -0.617         0.899          -2.289         315            90             180
  68  StoveKnob       -0.617         0.899          -1.975         315            90             180
  69  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  70  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  71  Window          -1.389         1.610          -4.113         90             0              0
  72  LightSwitch     -4.372         1.493          -1.031         0              90             0
  73  SinkBasin       -0.614         0.802          -3.384         0              315            0
  74  Fridge          -0.314         0.0            -0.646         0              0              0
  75  Toaster         -1.970         0.930          -3.763         0              0              0
  76  Microwave       -0.216         1.470          -2.054         0              270            0
  77  Blinds          -1.373         2.205          -3.961         0              0              0
  78  Faucet          -0.393         0.930          -3.614         270            225            0
  79  SideTable       -4.030         0.002          -0.301         0              185.034        0
  80  DiningTable     -3.586         0.000          -3.258         0              0              0
  81  DiningTable     -3.224         -0.003         -0.453         0              0              0
  82  Shelf           -4.030         0.259          -0.301         0              185.034        0
  83  Shelf           -4.030         0.489          -0.301         0              185.034        0
  84  EastWall
  85  EastWall
  86  SouthWall

Plan:
STEP 1: Turn left and walk to the stove. | STEP 2: Look up above the microwave and open the top right cabinet. Take out the black glass. | STEP 3: Look down at the microwave. | STEP 4: Heat the cup in the microwave. | STEP 5: Turn right and face the sink. | STEP 6: Place the cup in the large cabinet over the sink. | END