Task: Place a heated cup in a fridge.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          2.0            0              90             0
   1  Pan             1.562          0.988          3.848          0              0              0              57
   2  Potato          1.135          1.027          4.762          0              0              0              64
   3  DishSponge      -0.096         0.759          6.323          0              0              0              99
   4  ButterKnife     1.671          0.992          3.324          0              90             0              63
   5  Kettle          1.317          0.988          4.294          0              0              0              58
   6  Spoon           0.059          0.761          6.698          0              225            0              99
   7  Spoon           1.348          0.772          3.223          0              0              0              56
   8  Spatula         1.671          1.007          0.440          0              90             0              63
   9  Spatula         0.039          0.775          6.500          0              135            0              99
  10  Fork            -0.467         0.760          6.541          0              270            0              99
  11  Fork            -0.617         0.771          0.620          0              270            0              59
  12  Cup             1.543          1.572          4.694          0              0              0              67
  13  Cup             1.135          0.988          4.624          0              0              0              64
  14  Cup             2.094          1.511          5.376          0              270            0              85
  15  Plate           1.238          0.141          2.794          0              0              0              75
  16  Knife           0.735          0.802          0.563          0              270            0              55
  17  Tomato          2.094          1.565          5.251          0              270            0              85
  18  Tomato          1.966          1.565          6.001          0              270            0              85
  19  SoapBottle      1.450          2.207          4.219          0              0              0              51
  20  Bowl            1.332          0.895          2.137          0              90             0              86
  21  Bowl            1.238          0.139          3.291          0              0              0              74
  22  PepperShaker    1.493          0.987          1.577          0              270            0              63
  23  Bread           -0.284         0.829          6.787          0              0              0              99
  24  Lettuce         -0.621         0.848          6.604          0              270            0              99
  25  Lettuce         0.102          0.848          6.305          0              135            0              99
  26  Apple           2.094          1.590          5.501          0              270            0              85
  27  Apple           2.094          1.590          5.876          0              270            0              85
  28  Bowl            -0.413         0.143          0.429          0              0              0              71
  29  Bread           1.493          1.062          0.440          0              0              0              63
  30  Egg             0.035          0.810          6.019          0              135            0              99
  31  Knife           0.305          0.789          6.479          0              270            0              99
  32  Fork            0.938          0.772          0.619          0              270            0              55
  33  Apple           0.213          0.834          6.763          0              225            0              99
  34  Kettle          -0.096         0.761          6.169          0              0              0              99
  35  Plate           1.406          0.141          1.864          0              0              0              52
  36  SaltShaker      0.262          0.139          0.658          0              0              0              72
  37  Lettuce         -0.384         1.081          0.578          0              0              0              63
  38  SoapBottle      1.956          0.080          6.498          0              0              0              87
  39  Spatula         1.332          0.905          1.931          0              180            0              86
  40  PaperTowelRoll  0.696          1.096          0.578          0              0              0              63
  41  Pot             1.32           0.988          3.848          0              0              0              62
  42  Potato          0.064          1.132          0.245          0              0              0              79
  43  ButterKnife     0.696          0.992          0.670          0              0              0              63
  44  PepperShaker    1.455          1.571          4.511          0              0              0              67
  45  Pan             1.313          0.985          4.284          0              0              0              58
  46  Tomato          1.966          1.565          5.626          0              270            0              85
  47  DishSponge      -0.535         0.992          0.670          0              0              0              63
  48  Cup             1.497          0.887          2.474          0              90             0              86
  49  Spoon           -0.034         0.761          6.478          0              0              0              99
  50  Mug             1.384          1.043          0.847          0              270            0              63
  51  Cabinet         1.307          2.455          4.360          0              0              0
  52  Cabinet         1.054          0.422          1.710          0              0              0
  53  Drawer          1.280          0.808          4.718          0              0              0
  54  Cabinet         1.307          2.455          3.607          0              0              0
  55  Drawer          0.736          0.802          0.521          0              0              0
  56  Drawer          1.276          0.802          3.291          0              0              0
  57  StoveBurner     1.562          0.982          3.848          0              0              0
  58  StoveBurner     1.317          0.982          4.294          0              0              0
  59  Drawer          -0.482         0.802          0.521          0              0              0
  60  Drawer          0.124          0.802          0.521          0              0              0
  61  StoveBurner     1.559          0.982          4.294          0              0              0
  62  StoveBurner     1.320          0.982          3.848          0              0              0
  63  CounterTop      1.391          1.028          0.897          0              0              0
  64  CounterTop      1.391          1.028          4.716          0              0              0
  65  Cabinet         1.054          0.422          4.548          0              0              0
  66  Cabinet         1.317          2.134          0.517          0              0              0
  67  Cabinet         1.317          2.134          4.889          0              0              0
  68  Cabinet         1.317          2.134          3.095          0              0              0
  69  Cabinet         0.443          0.422          0.743          0              0              0
  70  Cabinet         1.270          2.134          0.434          0              0              0
  71  Cabinet         -0.775         0.422          0.743          0              0              0
  72  Cabinet         -0.168         0.422          0.743          0              0              0
  73  Cabinet         1.317          2.134          1.534          0              0              0
  74  Cabinet         1.054          0.422          2.990          0              0              0
  75  Cabinet         1.054          0.422          2.944          0              0              0
  76  Cabinet         -0.263         2.134          0.434          0              0              0
  77  Cabinet         0.252          2.134          0.434          0              0              0
  78  Sink            1.391          1.006          2.326          0              0              0
  79  Microwave       0.108          0.981          0.262          0              0              0
  80  HousePlant      -0.165         0.826          6.444          0              0              0
  81  CoffeeMachine   1.551          0.982          0.953          0              270            0
  82  Toaster         1.473          0.981          4.715          0              270            0
  83  Window          -2.065         1.916          3.626          90             90             0
  84  Window          1.763          2.007          2.299          90             270            0
  85  Fridge          2.035          0.0            5.625          0              0              0
  86  SinkBasin       1.387          0.880          2.338          0              90             0
  87  GarbageCan      2.001          -0.044         6.503          0              0              0
  88  StoveKnob       1.140          0.934          3.987          45             270            0
  89  StoveKnob       1.140          0.934          4.309          45             270            0
  90  StoveKnob       1.140          0.934          4.140          45             270            0
  91  StoveKnob       1.140          0.934          3.824          45             270            0
  92  Vase            -0.226         0.834          6.993          0              0              0
  93  Vase            2.098          0.043          7.070          0              257.232        0
  94  Vase            -0.594         0.835          6.130          0              225            0
  95  LightSwitch     -2.0           1.549          6.045          0              90             0
  96  Safe            2.046          1.072          7.054          0              257.232        0
  97  Faucet          1.534          1.025          2.371          0              294.391        0
  98  Blinds          1.738          2.563          2.312          0              90             0
  99  DiningTable     -0.156         0.000          6.474          0              0              0
 100  Chair           0.291          0.002          6.142          0              310.162        0
 101  GarbageBag      -1.092         0.318          0.268          270            90             83.492
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: Walk ahead to the sink. | STEP 2: Take the cup out of the left side of the sink. | STEP 3: Turn right and walk ahead to the microwave. | STEP 4: Heat the cup in the microwave. | STEP 5: Turn around and walk all the way to the table, then turn right to the fridge. | STEP 6: Place the cup in the fridge to the right of the middle apple. | END