Task: Place the warm cup in the cabinet above the toaster.

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           0.930          -1.5           0              0              0
   1  Pan             -0.862         0.899          -0.047         0              90             0              63
   2  Potato          1.242          1.111          -1.531         0              0              0              109
   3  Potato          3.152          0.785          -0.100         0              0              0              108
   4  Ladle           0.622          0.947          0.727          0              0              0              94
   5  DishSponge      -0.950         0.130          0.751          0              0              0              93
   6  DishSponge      -0.868         0.130          -0.186         0              0              0              83
   7  Glassbottle     -0.080         0.901          -1.244         0              45             0              84
   8  Glassbottle     0.904          1.675          -1.410         0              0              0              78
   9  Spatula         -0.786         0.533          1.343          0              90             0              51
  10  Fork            0.833          0.908          0.291          0              36.810         0              94
  11  CellPhone       0.022          0.897          -1.731         0              0              0              84
  12  Mug             -0.985         0.992          1.258          0              90             0              111
  13  Apple           3.044          0.974          -0.798         0              0              0              62
  14  Bread           0.722          0.989          0.374          0              36.810         0              94
  15  SaltShaker      -0.868         0.703          1.343          0              0              0              56
  16  SaltShaker      -0.950         0.322          1.255          0              0              0              98
  17  PepperShaker    0.468          0.509          -1.556         0              0              0              49
  18  Tomato          1.164          0.750          -1.381         0              0              0              109
  19  Egg             -0.043         0.952          -1.486         0              45             0              84
  20  Cup             1.086          1.071          -1.503         0              0              0              109
  21  Cup             0.356          0.908          0.426          0              0              0              94
  22  Knife           0.716          0.933          0.135          0              36.810         0              94
  23  Knife           3.070          0.738          -0.361         0              270            0              59
  24  Plate           1.208          1.687          -1.480         0              0              0              54
  25  Glassbottle     3.355          0.901          -0.798         0              0              0              62
  26  SoapBottle      3.208          0.110          1.519          0              225            0              104
  27  Potato          -1.119         1.036          1.258          0              90             0              111
  28  Fork            -0.827         0.327          0.576          0              0              0              64
  29  Ladle           -0.285         0.937          -1.450         0              135            0              84
  30  Pot             -0.600         0.902          -1.090         0              135            0              52
  31  Kettle          -0.239         0.902          -1.089         0              315            0              92
  32  Spatula         -0.786         0.532          1.255          0              0              0              51
  33  Knife           -0.936         0.925          -0.695         0              135            0              63
  34  Lettuce         0.851          0.951          -1.503         0              0              0              109
  35  Cup             0.839          0.908          0.530          0              36.810         0              94
  36  SaltShaker      1.351          1.671          -1.689         0              0              0              54
  37  Egg             2.987          0.799          0.098          0              90             0              108
  38  PepperShaker    -0.950         0.127          0.489          0              0              0              64
  39  ButterKnife     0.533          0.911          0.928          0              0              0              94
  40  Apple           -1.008         0.974          0.399          0              0              0              63
  41  Pan             0.341          0.873          -1.649         0              167.065        0              84
  42  Bread           1.534          0.972          0.486          0              289.287        0              94
  43  CellPhone       -0.786         0.703          -0.186         0              0              0              70
  44  DishSponge      -0.827         0.706          0.576          0              0              0              67
  45  Tomato          -1.153         0.937          0.846          0              0              0              63
  46  Spoon           -0.671         0.901          -0.858         0              135            0              63
  47  Bowl            -0.853         0.897          -0.877         0              45             0              63
  48  Mug             1.242          0.881          -1.503         0              0              0              109
  49  Drawer          0.376          0.572          -1.509         0              0              0
  50  Drawer          3.020          0.769          -0.783         0              180            0
  51  Drawer          -0.860         0.577          1.429          0              0              0
  52  StoveBurner     -0.600         0.897          -1.090         0              135            0
  53  Drawer          0.376          0.191          -1.509         0              0              0
  54  Cabinet         1.402          1.874          -1.259         0              0              0
  55  Cabinet         -0.202         1.963          -1.328         0              0              0
  56  Drawer          -0.860         0.765          1.429          0              0              0
  57  Drawer          -0.677         0.765          -0.700         0              0              0
  58  StoveBurner     -0.420         0.897          -0.920         0              135            0
  59  Drawer          3.020          0.769          -0.407         0              180            0
  60  Drawer          -0.860         0.577          0.663          0              0              0
  61  Cabinet         2.819          1.768          -1.850         0              0              0
  62  CounterTop      3.111          0.936          0.019          0              0              0
  63  CounterTop      -1.007         0.935          -0.039         0              0              0
  64  Drawer          -0.860         0.385          0.663          0              0              0
  65  StoveBurner     -0.419         0.897          -1.269         0              315            0
  66  Drawer          -0.047         0.573          -1.324         0              0              0
  67  Drawer          -0.860         0.765          0.663          0              0              0
  68  Drawer          -0.860         0.385          -0.100         0              0              0
  69  Drawer          0.376          0.380          -1.509         0              0              0
  70  Drawer          -0.860         0.765          -0.100         0              0              0
  71  Drawer          0.376          0.765          -1.509         0              0              0
  72  Cabinet         2.849          0.419          0.409          0              0              0
  73  Drawer          -0.047         0.765          -1.324         0              0              0
  74  Cabinet         2.849          0.419          -0.610         0              0              0
  75  Cabinet         2.849          0.419          -0.959         0              0              0
  76  Cabinet         3.069          1.666          -0.709         0              0              0
  77  Cabinet         2.819          1.768          -1.047         0              0              0
  78  Cabinet         0.620          1.874          -1.259         0              0              0
  79  Cabinet         0.140          1.666          -1.559         0              0              0
  80  Cabinet         -0.189         1.666          -1.340         0              0              0
  81  Cabinet         -0.709         1.963          -0.819         0              0              0
  82  Cabinet         -0.920         1.665          -0.620         0              0              0
  83  Drawer          -0.860         0.190          -0.100         0              0              0
  84  CounterTop      0.133          0.935          -1.457         0              0              0
  85  Drawer          3.020          0.769          0.695          0              180            0
  86  Drawer          -0.677         0.577          -0.700         0              0              0
  87  Drawer          -0.860         0.190          1.429          0              0              0
  88  Drawer          -0.047         0.192          -1.324         0              0              0
  89  Drawer          -0.677         0.193          -0.700         0              0              0
  90  Drawer          -0.860         0.577          -0.100         0              0              0
  91  Sink            3.078          0.887          0.086          0              0              0
  92  StoveBurner     -0.239         0.897          -1.089         0              315            0
  93  Drawer          -0.860         0.190          0.663          0              0              0
  94  CounterTop      1.210          0.937          0.463          0              0              0
  95  Drawer          -0.047         0.381          -1.324         0              0              0
  96  Drawer          -0.677         0.387          -0.700         0              0              0
  97  Mirror          -1.295         1.630          0.045          0              0              0
  98  Drawer          -0.860         0.385          1.429          0              0              0
  99  HousePlant      3.196          0.891          -0.368         0              0              0
 100  StoveKnob       -0.090         0.790          -1.009         270            45             0
 101  StoveKnob       -0.280         0.790          -0.819         270            45             0
 102  StoveKnob       -0.180         0.790          -0.920         270            45             0
 103  StoveKnob       -0.370         0.790          -0.720         270            45             0
 104  GarbageCan      3.137          0.025          1.545          0              225            0
 105  Window          3.703          1.675          0.046          90             90             0
 106  CoffeeMachine   3.214          0.890          0.697          0              270            0
 107  LightSwitch     2.592          1.309          -1.880         0              0              0
 108  SinkBasin       3.069          0.736          0.108          0              90             0
 109  Fridge          1.008          0.029          -1.467         0              0              0
 110  Toaster         -1.035         0.873          -0.396         0              90             0
 111  Microwave       -1.034         0.874          1.428          0              90             0
 112  Faucet          3.305          0.886          0.094          270            180            0
 113  NorthWall
 114  EastWall
 115  SouthWall
 116  WestWall

Plan:
STEP 1: Turn left, walk towards the stove, turn right and walk towards the kitchen island to your right. | STEP 2: Pick up the cup on the kitchen island. | STEP 3: Turn left and walk towards the microwave to your left. | STEP 4: Open the microwave, place the cup in it, warm it cup, and take it out of the microwave. | STEP 5: Turn left and head towards the toaster on your right. | STEP 6: Place the cup in the cabinet directly above the toaster. | END