Task: warm a cup from the sink before putting it away 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           0.0            0.900          1.25           0              270            0
   1  Book            -1.290         0.910          -2.483         0              0              0              91
   2  Pan             -0.995         0.911          -2.329         0              0              0              91
   3  Potato          -2.026         1.339          1.008          0              90             0              99
   4  Potato          -1.908         0.800          -1.242         0              90             0              101
   5  Plate           -0.335         1.108          -0.253         0              0              0              66
   6  Plate           1.098          0.907          -2.560         0              0              0              68
   7  Cup             -2.081         1.500          0.841          0              90             0              99
   8  Cup             -1.908         0.767          -1.760         0              90             0              101
   9  Egg             -1.907         0.083          1.933          0              270            0              97
  10  Tomato          -2.038         0.579          1.168          0              90             0              99
  11  SaltShaker      -0.995         0.907          -2.713         0              0              0              91
  12  SaltShaker      0.079          1.107          -0.001         0              0              0              66
  13  Bread           0.355          1.184          -0.001         0              0              0              66
  14  Lettuce         -0.197         1.191          -0.506         0              0              0              66
  15  Lettuce         0.355          1.191          -0.506         0              0              0              66
  16  Apple           -2.162         0.849          1.251          0              90             0              99
  17  Fork            -1.693         0.911          -2.585         0              0              0              91
  18  Spoon           -0.473         1.112          -0.506         0              0              0              66
  19  Spoon           -0.059         1.112          -0.759         0              0              0              66
  20  Pot             -1.705         0.140          -1.273         0              90             0              67
  21  Pot             -0.197         1.115          -0.001         0              0              0              66
  22  ButterKnife     -0.335         1.111          0.251          0              0              0              66
  23  ButterKnife     -1.963         0.769          -1.328         0              270            0              101
  24  Kettle          -0.465         0.950          -2.372         0              90             0              64
  25  Glassbottle     -1.908         0.770          -1.587         0              90             0              101
  26  Glassbottle     -2.018         0.770          -1.673         0              90             0              101
  27  WineBottle      -1.605         0.137          -1.740         0              90             0              67
  28  WineBottle      -1.071         1.657          -2.676         0              0              0              80
  29  DishSponge      1.478          0.552          -2.562         0              180            0              96
  30  DishSponge      0.450          0.140          -2.436         0              0              0              83
  31  Book            0.155          1.1            0.617          0              315            0              66
  32  Glassbottle     -1.935         0.048          2.029          0              270            0              97
  33  Knife           0.969          0.936          -2.637         0              90             0              68
  34  Bread           -0.522         1.170          -0.028         0              0              0              66
  35  Fork            -1.694         0.478          -0.245         0              90             0              81
  36  Potato          -2.037         0.828          1.334          0              90             0              99
  37  SoapBottle      -1.605         0.137          -1.623         0              90             0              67
  38  Kettle          -1.567         1.659          -2.641         0              0              0              82
  39  Pan             0.721          0.9            -2.415         0              0              0              68
  40  Plate           -0.912         0.133          -2.453         0              0              0              84
  41  Tomato          -2.037         0.837          1.085          0              90             0              99
  42  Vase            1.007          1.663          -2.636         0              0              0              88
  43  Egg             0.582          0.945          -2.637         0              0              0              68
  44  CreditCard      -0.848         0.908          -2.329         0              0              0              91
  45  Statue          0.217          1.110          -0.253         0              270            0              66
  46  WineBottle      0.279          0.141          -2.288         0              0              0              83
  47  Pot             -0.036         0.950          -2.576         0              270            0              69
  48  Spatula         1.062          0.791          -2.377         0              0              0              62
  49  PaperTowelRoll  1.685          0.657          -2.718         0              180            0              96
  50  Cup             -1.852         0.767          -1.414         0              90             0              101
  51  Vase            1.686          0.878          -2.536         0              180            0              93
  52  Bowl            1.996          0.549          -2.511         0              180            0              96
  53  SaltShaker      1.996          0.549          -2.666         0              180            0              96
  54  PepperShaker    1.685          0.549          -2.407         0              180            0              96
  55  Lettuce         -0.335         1.191          0.757          0              0              0              66
  56  ButterKnife     0.969          0.910          -2.253         0              0              0              68
  57  Apple           -2.019         0.961          -2.146         0              0              0              91
  58  DishSponge      -1.805         0.135          -1.740         0              90             0              67
  59  Spoon           -0.059         1.112          0.757          0              0              0              66
  60  Mug             -1.731         0.956          -0.168         0              90             0              100
  61  StoveBurner     -0.036         0.915          -2.372         0              0              0
  62  Drawer          0.949          0.832          -2.197         0              0              0
  63  Drawer          -1.560         0.839          0.204          0              90             0
  64  StoveBurner     -0.465         0.915          -2.371         0              180            0
  65  Drawer          -1.560         0.839          -0.197         0              90             0
  66  CounterTop      -0.079         1.147          -0.001         0              0              0
  67  Cabinet         -1.549         0.494          -1.964         0              90             0
  68  CounterTop      0.693          0.946          -2.483         0              0              0
  69  StoveBurner     -0.036         0.915          -2.576         0              0              0
  70  Drawer          0.949          0.393          -2.200         0              0              0
  71  Drawer          0.949          0.708          -2.200         0              0              0
  72  Cabinet         -1.549         0.494          0.379          0              90             0
  73  StoveKnob       -0.022         0.881          -2.187         45             0              0
  74  Drawer          0.949          0.560          -2.201         0              0              0
  75  StoveBurner     -0.465         0.915          -2.575         0              180            0
  76  Window          -2.230         1.429          -1.203         0              0              0
  77  StoveKnob       -0.483         0.881          -2.187         45             0              0
  78  Sink            -1.899         0.964          -1.5           0              90             0
  79  StoveKnob       -0.328         0.881          -2.187         45             0              0
  80  Cabinet         -0.727         2.015          -2.460         0              0              0
  81  Drawer          -1.560         0.655          -0.196         0              90             0
  82  Cabinet         -1.685         2.015          -2.461         0              0              0
  83  Cabinet         0.680          0.494          -2.200         0              0              0
  84  Cabinet         -1.179         0.494          -2.200         0              0              0
  85  Cabinet         -1.849         2.015          0.379          0              90             0
  86  Drawer          0.949          0.221          -2.200         0              0              0
  87  StoveKnob       -0.183         0.881          -2.187         45             0              0
  88  Cabinet         0.719          2.015          -2.460         0              0              0
  89  Drawer          -1.560         0.331          -0.196         0              90             0
  90  Cabinet         0.680          2.015          -2.460         0              0              0
  91  CounterTop      -1.868         0.946          -1.205         0              0              0
  92  Microwave       -0.236         1.689          -2.525         0              0              0
  93  Shelf           1.751          0.880          -2.560         0              0              0
  94  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  95  Toaster         -1.835         0.900          0.134          0              90             0
  96  Shelf           1.750          0.552          -2.559         0              0              0
  97  GarbageCan      -1.935         -0.002         2.029          0              270            0
  98  Shelf           1.750          0.172          -2.559         0              0              0
  99  Fridge          -2.096         0.0            1.088          0              0              0
 100  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
 101  SinkBasin       -1.908         0.759          -1.488         0              90             0
 102  LightSwitch     2.329          1.309          -0.159         0              270            0
 103  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 104  Stool           0.702          0.000          -0.514         1.202          65.108         0
 105  Stool           0.743          0.000          0.563          1.227          106.706        0
 106  Faucet          -2.070         1.132          -1.514         0              0              0
 107  NorthWall
 108  EastWall
 109  SouthWall
 110  WestWall

Plan:
STEP 1: go to the sink | STEP 2: take the glass cup from the sink | STEP 3: take the cup to the microwave | STEP 4: put the cup in the microwave then remove | STEP 5: take the cup the upper cabinet to the right of the microwave | STEP 6: put the cup in the cabinet | END