Task: Warm a cup up and put it away in cupboard.

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          0.914          1.5            0              180            0
   1  Potato          -0.790         1.574          4.033          0              180            0              71
   2  Potato          -1.127         0.923          0.049          0              90             0              81
   3  ButterKnife     -3.559         0.915          2.844          0              0              0              45
   4  ButterKnife     -1.655         0.891          0.152          0              90             0              81
   5  Spatula         -1.787         0.906          0.461          0              270            0              81
   6  Spatula         -2.302         0.930          4.106          0              0              0              45
   7  Spoon           -3.272         0.916          2.844          0              0              0              45
   8  Spoon           -1.391         0.892          0.049          0              90             0              81
   9  Fork            -3.176         0.916          1.440          0              0              0              54
  10  Egg             -0.790         1.309          4.097          0              180            0              71
  11  Egg             -1.921         0.824          3.625          0              0              0              75
  12  Cup             -1.523         0.891          0.564          0              90             0              81
  13  Cup             -1.921         0.789          3.774          0              0              0              75
  14  SoapBottle      -3.508         1.459          1.378          0              0              0              63
  15  SoapBottle      -3.526         1.994          1.945          0              0              0              59
  16  Bowl            -0.994         0.890          0.049          0              90             0              81
  17  Bowl            -3.081         0.914          1.440          0              0              0              54
  18  SaltShaker      -1.815         0.911          4.062          0              0              0              45
  19  PepperShaker    -3.185         0.743          2.972          0              0              0              47
  20  Lettuce         -3.463         1.001          1.440          0              0              0              54
  21  Apple           -0.790         1.046          3.926          0              180            0              71
  22  Egg             -0.089         1.309          4.168          0              180            0              71
  23  Knife           -1.259         0.915          0.461          0              180            0              81
  24  Fork            -3.463         0.916          1.189          0              0              0              54
  25  Bread           -1.522         0.963          0.276          0              280.313        0              81
  26  Potato          -3.272         0.948          1.189          0              0              0              54
  27  Plate           -0.323         0.990          3.926          0              180            0              71
  28  Pot             -3.424         0.966          1.971          0              0              0              53
  29  Kettle          -3.143         0.966          1.971          0              0              0              65
  30  WineBottle      -3.368         0.916          1.273          0              0              0              54
  31  Bowl            -3.459         1.994          2.537          0              0              0              60
  32  Tomato          -1.259         0.960          0.152          0              90             0              81
  33  Cup             -0.673         0.722          3.843          0              180            0              71
  34  Spatula         -1.793         0.804          3.7            0              180            0              75
  35  SoapBottle      -1.655         0.891          0.049          0              90             0              81
  36  Lettuce         -0.994         0.977          0.255          0              90             0              81
  37  Pan             -3.148         0.966          2.374          0              0              0              48
  38  Apple           -0.206         1.333          4.062          0              180            0              71
  39  SaltShaker      -3.068         0.742          1.356          0              0              0              46
  40  PepperShaker    -3.097         0.743          3.083          0              0              0              47
  41  ButterKnife     -3.176         0.915          3.499          0              0              0              45
  42  DishSponge      -3.081         0.915          3.172          0              0              0              47
  43  Spoon           -1.787         0.892          0.152          0              90             0              81
  44  Mug             -0.556         0.981          4.114          0              270            0              71
  45  CounterTop      -3.381         0.950          3.335          0              0              0
  46  Drawer          -3.121         0.775          1.357          0              0              0
  47  Drawer          -3.121         0.777          2.916          0              0              0
  48  StoveBurner     -3.148         0.958          2.374          0              0              0
  49  Sink            -1.797         0.917          3.660          0              0              0
  50  Cabinet         -1.421         0.388          3.459          0              0              0
  51  StoveBurner     -3.424         0.958          2.374          0              0              0
  52  Cabinet         -3.365         1.931          2.676          0              0              0
  53  StoveBurner     -3.424         0.958          1.971          0              0              0
  54  CounterTop      -3.381         0.951          1.356          0              0              0
  55  Drawer          -3.121         0.781          3.295          0              0              0
  56  Cabinet         -2.205         0.388          3.459          0              0              0
  57  Cabinet         -2.963         0.388          3.459          0              0              0
  58  Cabinet         -2.992         0.388          2.683          0              0              0
  59  Cabinet         -3.352         2.205          1.715          0              0              0
  60  Cabinet         -3.352         2.205          2.653          0              0              0
  61  Cabinet         -2.189         0.388          3.466          0              0              0
  62  Cabinet         -3.365         1.931          3.963          0              0              0
  63  Cabinet         -3.365         1.931          1.056          0              0              0
  64  Cabinet         -2.992         0.388          1.037          0              0              0
  65  StoveBurner     -3.143         0.958          1.971          0              0              0
  66  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  67  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  68  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  69  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  70  Toaster         -2.654         0.902          4.064          0              180            0
  71  Fridge          -0.439         0.014          3.996          0              0              0
  72  LightSwitch     0.25           1.383          2.085          0              270            0
  73  Window          -1.430         1.338          -0.347         90             0              0
  74  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  75  SinkBasin       -1.802         0.778          3.700          0              0              0
  76  Microwave       -3.484         1.430          2.182          0              90             0
  77  GarbageCan      -1.184         -0.020         3.794          0              270            0
  78  Blinds          -1.404         2.092          -0.296         0              0              0
  79  Stool           -1.373         0.014          1.048          1.214          20.754         0
  80  Faucet          -1.788         0.903          3.931          270            90             0
  81  DiningTable     -1.399         0.010          0.238          0              0              0
  82  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn and go to the sink. | STEP 2: Pick up the orange cup that is in the sink. | STEP 3: With the cup in hand turn and go to the microwave. | STEP 4: Open the microwave door.  Place the cup in the microwave and shut the door.  Start the microwave.  When done take the cup out and shut the door. | STEP 5: With the cup in hand move over so you can reach the cabinet above the microwave that is on the left. | STEP 6: Open the cupboard that is on the left above the microwave.  Place the cup in front of the lotion that is on the second shelf.  Shut the cupboard. | END