Task: Place the microwaved liquid in the 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           -1.25          0.900          1.5            0              270            0
   1  DishSponge      1.135          0.992          3.044          0              0              0              56
   2  DishSponge      1.587          1.575          4.633          0              0              0              60
   3  ButterKnife     -0.096         0.760          6.169          0              0              0              92
   4  Pot             1.317          0.988          4.294          0              0              0              51
   5  Spoon           -0.617         0.772          0.451          0              0              0              52
   6  Egg             -0.531         0.810          6.763          0              135            0              92
   7  Egg             -0.158         0.810          6.291          0              270            0              92
   8  Cup             1.577          2.203          3.794          0              0              0              47
   9  Plate           0.674          0.144          0.418          0              0              0              62
  10  Knife           0.735          0.802          0.507          0              0              0              48
  11  Knife           1.314          1.022          3.231          0              90             0              56
  12  SoapBottle      0.923          0.992          0.670          0              0              0              56
  13  SoapBottle      1.155          0.140          3.365          0              0              0              67
  14  Bowl            1.490          0.139          2.794          0              0              0              68
  15  PepperShaker    0.046          1.574          0.163          0              0              0              69
  16  PepperShaker    1.135          0.987          4.624          0              0              0              57
  17  Lettuce         -0.399         0.848          6.895          0              135            0              92
  18  Mug             0.305          0.755          6.666          0              270            0              92
  19  Mug             1.200          1.574          0.251          0              0              0              63
  20  Apple           -0.620         0.834          6.674          0              135            0              92
  21  Bowl            0.147          0.759          6.349          0              135            0              92
  22  Bread           1.493          1.062          0.440          0              0              0              56
  23  Egg             0.305          0.810          6.416          0              270            0              92
  24  Knife           -0.611         1.022          0.578          0              0              0              56
  25  Fork            -0.096         0.760          6.941          0              0              0              92
  26  Apple           -0.034         0.834          6.632          0              0              0              92
  27  Kettle          -0.377         0.761          6.261          0              225            0              92
  28  Plate           1.490          0.141          3.291          0              0              0              67
  29  SaltShaker      1.135          0.987          4.853          0              0              0              57
  30  Lettuce         -0.034         0.848          6.787          0              0              0              92
  31  SoapBottle      1.135          0.992          4.762          0              0              0              57
  32  Spatula         1.497          0.906          2.627          0              0              0              79
  33  PaperTowelRoll  0.256          0.864          6.240          0              135            0              92
  34  Pot             1.562          0.988          3.848          0              0              0              50
  35  Potato          2.094          1.550          5.626          0              270            0              78
  36  ButterKnife     -0.413         0.771          0.563          0              0              0              52
  37  PepperShaker    0.604          0.138          0.655          0              0              0              62
  38  Pan             0.696          0.990          0.486          0              0              0              56
  39  Tomato          -0.308         1.042          0.120          0              0              0              56
  40  DishSponge      1.292          0.771          3.429          0              0              0              49
  41  Cup             1.442          0.887          2.525          0              90             0              79
  42  Spoon           -0.467         0.761          6.541          0              270            0              92
  43  Mug             -0.378         0.755          6.698          0              135            0              92
  44  Cabinet         1.307          2.455          4.360          0              0              0
  45  Cabinet         1.054          0.422          1.710          0              0              0
  46  Drawer          1.280          0.808          4.718          0              0              0
  47  Cabinet         1.307          2.455          3.607          0              0              0
  48  Drawer          0.736          0.802          0.521          0              0              0
  49  Drawer          1.276          0.802          3.291          0              0              0
  50  StoveBurner     1.562          0.982          3.848          0              0              0
  51  StoveBurner     1.317          0.982          4.294          0              0              0
  52  Drawer          -0.482         0.802          0.521          0              0              0
  53  Drawer          0.124          0.802          0.521          0              0              0
  54  StoveBurner     1.559          0.982          4.294          0              0              0
  55  StoveBurner     1.320          0.982          3.848          0              0              0
  56  CounterTop      1.391          1.028          0.897          0              0              0
  57  CounterTop      1.391          1.028          4.716          0              0              0
  58  Cabinet         1.054          0.422          4.548          0              0              0
  59  Cabinet         1.317          2.134          0.517          0              0              0
  60  Cabinet         1.317          2.134          4.889          0              0              0
  61  Cabinet         1.317          2.134          3.095          0              0              0
  62  Cabinet         0.443          0.422          0.743          0              0              0
  63  Cabinet         1.270          2.134          0.434          0              0              0
  64  Cabinet         -0.775         0.422          0.743          0              0              0
  65  Cabinet         -0.168         0.422          0.743          0              0              0
  66  Cabinet         1.317          2.134          1.534          0              0              0
  67  Cabinet         1.054          0.422          2.990          0              0              0
  68  Cabinet         1.054          0.422          2.944          0              0              0
  69  Cabinet         -0.263         2.134          0.434          0              0              0
  70  Cabinet         0.252          2.134          0.434          0              0              0
  71  Sink            1.391          1.006          2.326          0              0              0
  72  Microwave       0.108          0.981          0.262          0              0              0
  73  HousePlant      -0.165         0.826          6.444          0              0              0
  74  CoffeeMachine   1.551          0.982          0.953          0              270            0
  75  Toaster         1.473          0.981          4.715          0              270            0
  76  Window          -2.065         1.916          3.626          90             90             0
  77  Window          1.763          2.007          2.299          90             270            0
  78  Fridge          2.035          0.0            5.625          0              0              0
  79  SinkBasin       1.387          0.880          2.338          0              90             0
  80  GarbageCan      2.001          -0.044         6.503          0              0              0
  81  StoveKnob       1.140          0.934          3.987          45             270            0
  82  StoveKnob       1.140          0.934          4.309          45             270            0
  83  StoveKnob       1.140          0.934          4.140          45             270            0
  84  StoveKnob       1.140          0.934          3.824          45             270            0
  85  Vase            -0.226         0.834          6.993          0              0              0
  86  Vase            2.098          0.043          7.070          0              257.232        0
  87  Vase            -0.594         0.835          6.130          0              225            0
  88  LightSwitch     -2.0           1.549          6.045          0              90             0
  89  Safe            2.046          1.072          7.054          0              257.232        0
  90  Faucet          1.534          1.025          2.371          0              294.391        0
  91  Blinds          1.738          2.563          2.312          0              90             0
  92  DiningTable     -0.156         0.000          6.474          0              0              0
  93  Chair           0.291          0.002          6.142          0              310.162        0
  94  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: Turn around and face the sink. | STEP 2: Pick the cup up from the sink. | STEP 3: Turn around and go to the left to face the microwave. | STEP 4: Open the microwave, place the cup in to the microwave, wait a few minutes, open the microwave, pick up the cup, and close the microwave. | STEP 5: Move lower and open the cabinet below the microwave. | STEP 6: Place the cup into the cabinet. | END