Task: Put a heated green cup in the upper cabinets.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.900          1.25           0              270            0
   1  Potato          -2.947         1.182          1.957          0              90             0              59
   2  DishSponge      -2.724         0.823          0.278          0              0              0              41
   3  DishSponge      -0.362         0.056          2.572          0              0              0              61
   4  ButterKnife     -2.211         0.823          0.528          0              0              0              41
   5  Spoon           -0.817         0.824          0.352          0              90             0              41
   6  Spoon           -2.581         0.824          0.789          0              0              0              41
   7  Plate           -2.837         1.148          2.397          0              90             0              59
   8  Knife           -1.151         0.849          0.278          0              270            0              41
   9  Knife           -2.375         0.849          0.426          0              0              0              41
  10  Mug             -2.671         1.138          2.133          0              90             0              59
  11  Apple           -0.295         0.129          2.674          0              90             0              61
  12  Apple           -2.744         0.994          1.178          0              270            0              60
  13  Apple           -2.781         1.518          1.957          0              90             0              59
  14  Fork            -2.491         0.824          0.203          0              0              0              41
  15  Ladle           -2.000         0.169          0.401          0              0              0              53
  16  Pan             -0.244         0.829          1.684          0              0              0              40
  17  SoapBottle      -2.905         1.433          0.708          0              0              0              50
  18  Pot             -0.531         0.822          2.096          0              0              0              38
  19  Tomato          -2.726         0.874          2.309          0              90             0              59
  20  Potato          -0.238         0.861          1.332          0              0              0              41
  21  SaltShaker      -2.812         1.430          0.265          0              45             0              47
  22  Plate           -1.407         0.130          0.362          0              0              0              54
  23  Spatula         -0.341         0.696          1.194          0              45             0              37
  24  Knife           -2.662         0.819          0.557          90             300.034        0              41
  25  Egg             -2.744         0.945          1.443          0              90             0              60
  26  Cup             -2.735         0.823          0.953          0              0              0              41
  27  ButterKnife     -1.876         0.823          0.508          0              0              0              41
  28  Lettuce         -1.836         0.741          0.238          0              55.910         0              68
  29  PepperShaker    -2.504         0.818          0.707          0              0              0              41
  30  DishSponge      -1.105         0.698          0.410          0              0              0              45
  31  Bread           -0.979         0.855          0.249          0              29.999         0              41
  32  Spoon           -1.876         0.824          0.518          0              0              0              41
  33  Mug             -2.837         1.138          2.133          0              90             0              59
  34  Bowl            -0.397         0.115          0.914          0              0              0              57
  35  Cabinet         -2.377         2.015          1.720          0              0              0
  36  StoveBurner     -0.244         0.820          2.075          0              180            0
  37  Drawer          -0.402         0.703          1.252          0              0              0
  38  StoveBurner     -0.518         0.820          2.075          0              180            0
  39  Sink            -1.838         0.726          0.343          0              180            0
  40  StoveBurner     -0.244         0.820          1.684          0              0              0
  41  CounterTop      -1.557         0.859          0.277          0              0              0
  42  StoveBurner     -0.518         0.820          1.684          0              0              0
  43  Drawer          -0.404         0.704          0.912          0              0              0
  44  Drawer          -0.861         0.709          0.420          0              0              0
  45  Drawer          -1.133         0.706          0.418          0              0              0
  46  Drawer          -2.589         0.703          1.511          0              0              0
  47  Cabinet         -2.772         1.803          0.508          0              0              0
  48  Cabinet         -2.460         1.803          0.231          0              0              0
  49  Cabinet         -2.781         1.798          0.825          0              0              0
  50  Cabinet         -2.781         1.798          0.815          0              0              0
  51  Cabinet         -2.377         2.009          2.581          0              0              0
  52  Cabinet         -2.442         0.385          1.672          0              0              0
  53  Cabinet         -2.238         0.385          0.564          0              0              0
  54  Cabinet         -1.286         0.385          0.564          0              0              0
  55  Cabinet         -1.262         0.385          0.565          0              0              0
  56  Cabinet         -0.734         0.385          0.565          0              0              0
  57  Cabinet         -0.549         0.385          0.751          0              0              0
  58  Cabinet         -0.549         0.385          1.412          0              0              0
  59  Fridge          -2.782         0.0            2.221          0              0              0
  60  Microwave       -2.794         0.812          1.348          0              90             0
  61  GarbageCan      -0.329         2.205          2.606          0              0              0
  62  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  63  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  64  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  65  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  66  Window          -1.720         1.342          -0.208         90             0              0
  67  Toaster         -0.171         0.812          0.735          0              270            0
  68  SinkBasin       -1.745         0.687          0.295          0              0              0
  69  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  70  LightSwitch     -0.615         1.378          3.0            0              180            0
  71  Faucet          -1.686         0.954          0.176          0              236.223        0
  72  Stool           -1.008         0.008          1.955          0              18.279         0
  73  NorthWall
  74  EastWall
  75  SouthWall
  76  WestWall

Plan:
STEP 1: Turn left and take a step forward, then turn right to face the counter. | STEP 2: Pick up the green cup off of the counter. | STEP 3: Turn right and take a step forward, then turn left to face the microwave. | STEP 4: Open the microwave and put the green cup inside in between the apple and egg, microwave the cup for a couple seconds then take the cup out of the microwave and close the microwave door. | STEP 5: Look up at the upper cabinets. | STEP 6: Open the cabinet above the microwave and put the heated green cup inside. | END