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           0.5            0.900          0.75           0              270            0
   1  Pan             -1.081         0.949          -1.527         0              0              0              80
   2  SprayBottle     -2.165         1.655          -1.866         0              90             0              60
   3  SprayBottle     1.302          0.213          1.022          0              0              0              96
   4  Pen             -1.957         0.913          0.463          0              0              0              81
   5  Pen             -2.445         0.913          0.291          0              0              0              81
   6  Ladle           1.414          1.206          -1.002         0              0              0              85
   7  Ladle           1.093          0.159          -1.186         0              0              0              64
   8  ButterKnife     0.115          0.919          -1.657         0              270            0              58
   9  ButterKnife     -2.116         0.910          -1.448         0              0              0              77
  10  DishSponge      -0.652         0.111          -1.584         0              0              0              66
  11  Glassbottle     1.459          0.215          1.051          0              0              0              96
  12  Spatula         1.533          1.177          -1.002         0              90             0              85
  13  Spatula         -1.712         0.925          0.549          0              0              0              81
  14  Egg             0.217          0.948          -1.859         0              270            0              58
  15  Cup             -1.886         0.910          -1.707         0              0              0              77
  16  Plate           1.342          1.656          -1.264         0              0              0              71
  17  Plate           1.148          0.115          -0.699         0              0              0              63
  18  Knife           0.320          0.949          -1.657         0              270            0              58
  19  SoapBottle      0.041          1.655          -1.876         0              0              0              69
  20  SoapBottle      -0.477         0.911          -1.704         0              180            0              79
  21  Tomato          1.332          1.857          2.557          0              270            0              98
  22  PepperShaker    -2.079         0.905          0.463          0              0              0              81
  23  PepperShaker    1.052          1.650          -1.801         0              0              0              68
  24  SaltShaker      -1.438         1.853          -1.802         0              0              0              72
  25  SaltShaker      -0.675         1.650          -1.876         0              0              0              61
  26  Bread           1.176          0.989          0.031          0              0              0              79
  27  Bread           -2.201         0.988          0.377          0              0              0              81
  28  Mug             1.426          1.362          2.226          0              270            0              98
  29  Mug             1.376          1.362          2.101          0              270            0              98
  30  Tomato          0.183          0.959          -1.758         0              270            0              58
  31  Glassbottle     1.494          1.162          -1.688         0              0              0              85
  32  Knife           -2.079         0.940          0.118          0              0              0              81
  33  Plate           0.649          0.117          -1.585         0              90             0              73
  34  Fork            -2.079         0.911          0.291          0              0              0              81
  35  Ladle           -0.703         0.955          -1.704         0              0              0              79
  36  Potato          1.275          1.409          1.851          0              270            0              98
  37  Lettuce         1.426          1.436          1.725          0              270            0              98
  38  Kettle          -1.431         0.949          -1.81          0              0              0              89
  39  Pen             1.414          1.164          -1.345         0              0              0              85
  40  SaltShaker      1.092          0.112          0.430          0              0              0              62
  41  Cup             0.110          0.115          -1.536         0              90             0              76
  42  Egg             -0.086         0.805          -1.781         0              270            0              100
  43  Spatula         0.949          0.789          -1.013         0              270            0              57
  44  Bowl            1.454          1.162          -0.659         0              0              0              85
  45  SprayBottle     0.973          0.114          -0.736         0              0              0              63
  46  Pan             -1.431         0.949          -1.525         0              0              0              87
  47  SoapBottle      -1.481         1.858          -1.910         0              90             0              72
  48  Pot             -1.081         0.949          -1.81          0              0              0              75
  49  ButterKnife     -0.477         0.911          -1.448         0              0              0              79
  50  PepperShaker    -2.201         0.905          0.118          0              0              0              81
  51  DishSponge      0.279          1.655          -1.801         0              0              0              69
  52  Bread           1.335          1.240          -1.345         0              0              0              85
  53  Apple           -1.732         0.945          -1.620         0              0              0              77
  54  Spoon           -2.323         0.911          0.463          0              0              0              81
  55  Mug             -0.133         0.109          -1.536         0              90             0              76
  56  Drawer          0.860          0.75           0.430          0              0              0
  57  Drawer          0.871          0.75           -1.134         0              0              0
  58  Sink            0.156          0.817          -1.801         0              270            0
  59  Cabinet         -0.868         2.005          -1.690         0              0              0
  60  Cabinet         -1.661         2.059          -1.684         0              90             0
  61  Cabinet         -0.817         2.059          -1.689         0              0              0
  62  Cabinet         0.860          0.402          0.665          0              0              0
  63  Cabinet         0.860          0.402          -0.552         0              0              0
  64  Cabinet         0.860          0.402          -1.365         0              0              0
  65  Cabinet         -0.244         0.402          -1.389         0              0              0
  66  Cabinet         -0.815         0.402          -1.389         0              0              0
  67  Cabinet         1.159          2.059          -0.334         0              0              0
  68  Cabinet         0.488          2.059          -1.689         0              0              0
  69  Cabinet         -0.193         2.059          -1.689         0              0              0
  70  Drawer          0.860          0.75           -0.699         0              0              0
  71  Cabinet         1.159          2.059          -1.019         0              0              0
  72  Cabinet         -1.611         2.005          -1.690         0              0              0
  73  Cabinet         0.832          0.401          -1.393         0              90             0
  74  Drawer          -2.105         0.75           -1.389         0              0              0
  75  StoveBurner     -1.081         0.941          -1.809         0              0              0
  76  Cabinet         -0.202         0.401          -1.391         0              90             0
  77  CounterTop      -1.973         0.945          -1.707         0              0              0
  78  Drawer          -0.375         0.75           -1.389         0              0              0
  79  CounterTop      1.164          0.946          -0.649         0              0              0
  80  StoveBurner     -1.081         0.941          -1.527         0              0              0
  81  CounterTop      -2.096         0.945          0.291          0              0              0
  82  Cabinet         -2.237         0.402          -1.389         0              0              0
  83  Drawer          0.584          0.75           -1.389         0              0              0
  84  Drawer          -1.795         0.75           -1.389         0              0              0
  85  CounterTop      1.5            1.197          -0.654         0              0              0
  86  Cabinet         -1.667         0.402          -1.389         0              0              0
  87  StoveBurner     -1.430         0.941          -1.525         0              0              0
  88  Drawer          -0.685         0.75           -1.389         0              0              0
  89  StoveBurner     -1.430         0.941          -1.809         0              0              0
  90  LightSwitch     -2.539         1.289          2.568          0              90             0
  91  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  92  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  93  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  94  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  95  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  96  GarbageCan      1.343          0.015          1.041          0              0              0
  97  HousePlant      1.440          1.153          0.593          0              0              0
  98  Fridge          1.417          0.0            2.101          0              0              0
  99  Window          -0.486         1.452          3.302          90             0              0
 100  SinkBasin       -0.063         0.765          -1.713         0              270            0
 101  Microwave       1.422          1.150          0.022          0              270            0
 102  Toaster         -2.066         0.900          -1.848         0              0              0
 103  Stool           -1.994         0.010          0.882          0              0              0
 104  Faucet          -0.096         1.041          -1.867         0              270            0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Move to the sink to the left | STEP 2: pick up a cup from the cabinet | 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 counter to the left of the sink | STEP 6: put the cup in the cabinet under the sink | END