Task: Put a warmed 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           -0.25          0.930          1.0            0              270            0
   1  Potato          0.773          1.286          -1.448         0              0              0              109
   2  Ladle           -0.826         0.937          -0.904         0              135            0              63
   3  Ladle           -1.015         0.937          -0.719         0              135            0              63
   4  DishSponge      -0.909         0.706          -0.273         0              0              0              70
   5  Glassbottle     3.069          0.748          -0.100         0              90             0              108
   6  Kettle          -0.419         0.902          -1.269         0              315            0              65
   7  Spoon           2.988          0.713          0.560          0              180            0              85
   8  Spoon           3.069          0.748          0.032          0              180            0              108
   9  Fork            3.277          0.901          -0.499         0              270            0              62
  10  Fork            0.781          0.911          0.452          0              36.810         0              94
  11  CellPhone       -0.786         0.323          1.693          0              0              0              98
  12  Mug             0.012          0.895          -1.337         0              45             0              84
  13  SaltShaker      2.888          0.897          -0.399         0              0              0              62
  14  PepperShaker    -0.806         0.896          -0.722         0              45             0              63
  15  Bowl            3.031          1.461          -1.186         0              0              0              77
  16  Bowl            0.760          1.671          -1.410         0              0              0              78
  17  SoapBottle      3.354          0.909          -0.151         0              0              0              62
  18  Tomato          2.966          0.937          0.947          0              0              0              62
  19  Egg             0.710          0.960          0.627          0              0              0              94
  20  Cup             0.622          0.908          0.827          0              0              0              94
  21  Cup             1.242          0.883          -1.475         0              0              0              109
  22  Cup             0.555          0.908          0.499          0              36.810         0              94
  23  Plate           3.028          0.190          0.770          0              0              0              72
  24  Plate           0.967          0.923          0.322          0              0              0              94
  25  Glassbottle     3.111          0.748          0.231          0              90             0              108
  26  SoapBottle      3.101          0.110          1.573          0              225            0              104
  27  Potato          -1.085         1.036          1.523          0              90             0              111
  28  Fork            -0.868         0.518          0.076          0              0              0              90
  29  Ladle           3.028          0.212          -0.404         0              0              0              74
  30  Pot             -0.600         0.902          -1.090         0              135            0              52
  31  Kettle          3.028          0.176          -0.828         0              0              0              75
  32  Spatula         -1.153         0.915          0.399          0              90             0              63
  33  Knife           -0.007         0.925          -1.728         0              135            0              84
  34  Lettuce         1.008          0.951          -1.503         0              0              0              109
  35  Cup             3.181          1.462          -1.746         0              0              0              61
  36  SaltShaker      3.315          1.460          -1.137         0              0              0              77
  37  Egg             0.773          1.300          -1.559         0              0              0              109
  38  PepperShaker    0.547          0.904          0.140          0              36.810         0              94
  39  ButterKnife     0.622          0.908          0.527          0              0              0              94
  40  Apple           1.008          0.785          -1.433         0              0              0              109
  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       0.376          0.703          -1.434         0              0              0              71
  44  DishSponge      -0.786         0.130          1.343          0              0              0              87
  45  Tomato          3.07           0.790          0.098          0              90             0              108
  46  Spoon           0.887          0.909          0.827          0              270            0              94
  47  Bowl            -0.862         0.897          0.846          0              0              0              63
  48  Mug             0.204          1.254          -1.741         0              180            0              79
  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 to the counter behind you. | STEP 2: Pick up a cup from the counter. | STEP 3: Turn around and walk to the microwave  | STEP 4: Warm the cup in the microwave. | STEP 5: Turn to your left and walk towards the cabinet above the toaster. | STEP 6: Place the cup in the cabinet. | END