Task: Heat a cup and place it 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           0.75           0.900          2.0            0              90             0
   1  Pan             -1.109         0.930          1.470          0              0              0              39
   2  Potato          1.422          0.876          1.341          0              180            0              79
   3  Potato          1.362          0.977          1.756          0              180            0              64
   4  DishSponge      1.516          0.937          0.940          0              0              0              42
   5  ButterKnife     -1.043         0.937          0.998          0              0              0              62
   6  Fork            1.456          0.945          1.840          0              180            0              64
   7  Fork            1.344          0.747          2.391          0              90             0              40
   8  Spoon           -0.876         0.939          1.076          0              0              0              62
   9  Egg             1.503          0.979          1.673          0              180            0              64
  10  SoapBottle      1.385          1.071          0.478          0              0              0              43
  11  SoapBottle      1.391          0.081          1.059          0              0              0              63
  12  Mug             -0.877         1.314          0.348          0              90             0              69
  13  Mug             -1.012         0.810          0.348          0              90             0              69
  14  Mug             -1.112         1.314          -0.034         0              180            0              69
  15  Apple           1.390          0.119          2.912          0              0              0              75
  16  Lettuce         -1.126         1.028          0.921          0              0              0              62
  17  SoapBottle      -1.041         1.500          2.553          0              180            0              59
  18  Bread           -0.923         0.990          2.265          0              302.470        0              37
  19  Fork            -0.689         0.747          0.982          0              270            0              60
  20  Tomato          -0.988         0.876          -0.110         0              90             0              69
  21  Bowl            1.710          1.497          2.248          0              0              0              57
  22  Pot             -0.818         0.927          0.816          0              270            0              62
  23  Spatula         1.275          0.761          0.780          0              90             0              67
  24  Knife           -0.896         0.768          1.050          0              270            0              60
  25  SaltShaker      -0.677         0.080          0.774          0              0              0              49
  26  Apple           -0.899         0.615          0.042          0              90             0              69
  27  PepperShaker    1.414          0.742          2.595          0              0              0              40
  28  ButterKnife     1.376          0.736          2.234          0              29.999         0              40
  29  Potato          -1.012         0.847          0.042          0              90             0              69
  30  Plate           -1.078         1.506          0.887          0              0              0              48
  31  DishSponge      -0.792         0.746          0.847          0              180            0              60
  32  Egg             1.556          0.105          2.945          0              0              0              75
  33  Cup             1.382          0.099          -0.131         0              0              0              47
  34  Pan             -1.109         0.930          1.865          0              0              0              61
  35  Spoon           1.362          0.945          1.673          0              180            0              64
  36  Mug             1.285          0.932          2.501          0              0              0              42
  37  CounterTop      -0.973         0.973          2.386          0              0              0
  38  Drawer          -0.783         0.774          2.381          0              180            0
  39  StoveBurner     -1.108         0.922          1.470          0              0              0
  40  Drawer          1.370          0.774          2.391          0              0              0
  41  Stool           -0.748         0.008          3.116          0              0              0
  42  CounterTop      1.504          0.973          2.309          0              0              0
  43  Cabinet         1.219          1.388          0.591          0              0              0
  44  Cabinet         1.500          2.113          1.164          0              0              0
  45  Cabinet         1.219          2.010          0.591          0              0              0
  46  Cabinet         1.219          0.388          2.105          0              0              0
  47  Cabinet         1.219          0.553          0.591          0              0              0
  48  Cabinet         -0.913         2.113          1.164          0              0              0
  49  Cabinet         -0.633         0.388          0.627          0              0              0
  50  Cabinet         -0.913         2.050          -0.329         0              0              0
  51  Cabinet         -0.913         2.113          0.583          0              0              0
  52  Cabinet         -0.913         2.113          2.082          0              0              0
  53  Cabinet         -0.913         2.113          1.207          0              0              0
  54  Cabinet         1.500          2.113          2.082          0              0              0
  55  Cabinet         1.500          2.113          1.207          0              0              0
  56  Cabinet         1.500          1.810          2.691          0              0              0
  57  Cabinet         1.500          1.810          2.101          0              0              0
  58  Cabinet         -0.633         0.388          2.105          0              0              0
  59  Cabinet         -0.911         1.810          2.700          0              180            0
  60  Drawer          -0.783         0.774          0.915          0              180            0
  61  StoveBurner     -1.108         0.922          1.865          0              0              0
  62  CounterTop      -0.972         0.973          0.921          0              0              0
  63  Cabinet         1.219          0.388          0.631          0              0              0
  64  Sink            1.544          0.869          1.639          0              180            0
  65  StoveBurner     -0.832         0.922          1.865          0              0              0
  66  StoveBurner     -0.831         0.922          1.470          0              0              0
  67  Drawer          1.370          0.774          0.916          0              0              0
  68  Cabinet         -0.911         1.810          2.111          0              180            0
  69  Fridge          -1.001         0.0            0.119          0              0              0
  70  StoveKnob       -0.648         0.926          1.923          0              270            0
  71  StoveKnob       -0.648         0.926          1.363          0              270            0
  72  StoveKnob       -0.648         0.926          1.513          0              270            0
  73  StoveKnob       -0.648         0.926          1.763          0              270            0
  74  Toaster         -1.002         0.926          2.561          0              90             0
  75  GarbageCan      1.451          -0.029         2.912          0              0              0
  76  Microwave       1.632          1.480          1.645          0              270            0
  77  Window          0.224          1.601          3.509          90             0              0
  78  CoffeeMachine   1.692          0.926          2.453          0              270            0
  79  SinkBasin       1.461          0.833          1.369          0              180            0
  80  LightSwitch     0.451          1.412          -1.674         0              0              0
  81  Faucet          1.707          0.925          1.363          0              270            0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Take a few steps left and look at the coffee machine. | STEP 2: Pick up the cup from the counter. | STEP 3: Carry the cup and take a few steps right, and look up the microwave. | STEP 4: Open the microwave and place the cup inside. Shut the door then open it again. Take out the cup and shut the door. | STEP 5: Hold the cup and look above the microwave. | STEP 6: Open the top left cabinet and place the cup inside. Shut the door. | END