Task: Put a heated tray 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           -2.0           0.900          -1.5           0              180            0
   1  Pan             -3.744         0.758          -3.209         0              334.125        0              78
   2  DishSponge      -2.354         0.099          -3.538         0              0              0              67
   3  DishSponge      -0.527         0.813          -3.454         0              315            0              71
   4  ButterKnife     -1.694         0.942          -3.673         0              0              0              42
   5  Spoon           -3.942         0.691          -0.309         0              90             0              77
   6  Spatula         -0.078         0.956          -1.538         0              0              0              60
   7  Spatula         -3.364         0.909          -0.119         0              180            0              79
   8  Egg             -3.364         0.935          -0.548         0              270            0              79
   9  Cup             -3.163         0.895          -0.633         0              270            0              79
  10  Plate           -0.321         1.502          -0.646         0              270            0              72
  11  Plate           -0.321         1.502          -0.994         0              270            0              72
  12  SoapBottle      -4.002         0.689          -0.369         0              0              0              77
  13  SoapBottle      -2.560         0.892          -0.548         0              270            0              79
  14  Tomato          -0.552         0.992          -1.406         0              0              0              60
  15  Bowl            -3.565         0.892          -0.119         0              270            0              79
  16  Bowl            -0.252         1.284          -0.878         0              270            0              72
  17  Lettuce         -1.694         1.033          -3.829         0              0              0              42
  18  PepperShaker    -3.485         0.756          -3.599         0              334.125        0              78
  19  PepperShaker    -4.182         0.687          -0.491         0              0              0              77
  20  Mug             -4.122         0.686          -0.308         0              0              0              77
  21  SoapBottle      -4.242         0.689          -0.430         0              0              0              77
  22  Pot             -0.222         0.961          -1.845         0              180            0              44
  23  Fork            -0.451         0.814          -3.299         0              315            0              71
  24  Cup             -0.315         0.942          -1.494         0              0              0              60
  25  Tomato          -2.560         0.945          -0.290         0              270            0              79
  26  Pan             -0.222         0.961          -2.243         0              0              0              61
  27  Plate           -3.766         0.774          -2.877         0              334.125        0              78
  28  Bread           -2.984         0.956          -0.311         0              50.592         0              79
  29  Spatula         -0.168         0.957          -2.729         0              0              0              42
  30  Knife           -3.882         0.716          -0.309         0              90             0              77
  31  SaltShaker      -1.123         0.749          -3.563         0              0              0              48
  32  PepperShaker    -4.002         0.686          -0.248         0              0              0              77
  33  ButterKnife     -0.295         0.942          -3.019         0              45             0              42
  34  Apple           -4.062         0.751          -0.126         0              0              0              77
  35  DishSponge      -2.761         0.894          -0.376         0              270            0              79
  36  Potato          -2.359         0.926          -0.548         0              270            0              79
  37  Egg             -0.211         1.327          -0.994         0              270            0              72
  38  Spoon           -0.244         0.943          -2.611         0              0              0              42
  39  Lettuce         -0.359         1.579          -0.413         0              270            0              72
  40  Mug             -2.514         0.972          -3.649         0              0              0              68
  41  Bowl            -2.761         0.892          -0.548         0              270            0              79
  42  CounterTop      -1.937         0.977          -3.673         0              0              0
  43  StoveBurner     -0.437         0.924          -1.845         0              180            0
  44  StoveBurner     -0.222         0.924          -1.845         0              180            0
  45  StoveBurner     -0.437         0.924          -2.243         0              0              0
  46  Drawer          -0.500         0.779          -1.450         0              0              0
  47  Drawer          -0.481         0.777          -2.739         0              0              0
  48  Drawer          -1.154         0.782          -3.499         0              0              0
  49  Cabinet         -0.337         2.110          -0.390         0              0              0
  50  Cabinet         -0.337         2.110          -1.272         0              0              0
  51  Cabinet         -0.337         2.110          -1.631         0              0              0
  52  Cabinet         -0.337         2.110          -2.497         0              0              0
  53  Cabinet         -0.337         1.891          -1.286         0              0              0
  54  Cabinet         -0.346         1.891          -3.293         0              0              0
  55  Cabinet         -0.629         0.388          -2.513         0              0              0
  56  Cabinet         -0.633         0.388          -3.008         0              0              0
  57  Cabinet         -1.010         0.388          -3.368         0              0              0
  58  Cabinet         -0.629         0.388          -1.614         0              0              0
  59  Cabinet         -0.327         1.886          -2.513         0              0              0
  60  CounterTop      -0.326         0.976          -1.450         0              0              0
  61  StoveBurner     -0.222         0.924          -2.243         0              0              0
  62  Sink            -0.600         0.929          -3.388         0              0              0
  63  StoveKnob       -0.617         0.899          -1.833         315            90             180
  64  StoveKnob       -0.617         0.899          -2.129         315            90             180
  65  StoveKnob       -0.617         0.899          -2.289         315            90             180
  66  StoveKnob       -0.617         0.899          -1.975         315            90             180
  67  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  68  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  69  Window          -1.389         1.610          -4.113         90             0              0
  70  LightSwitch     -4.372         1.493          -1.031         0              90             0
  71  SinkBasin       -0.614         0.802          -3.384         0              315            0
  72  Fridge          -0.314         0.0            -0.646         0              0              0
  73  Toaster         -1.970         0.930          -3.763         0              0              0
  74  Microwave       -0.216         1.470          -2.054         0              270            0
  75  Blinds          -1.373         2.205          -3.961         0              0              0
  76  Faucet          -0.393         0.930          -3.614         270            225            0
  77  SideTable       -4.030         0.002          -0.301         0              185.034        0
  78  DiningTable     -3.586         0.000          -3.258         0              0              0
  79  DiningTable     -3.224         -0.003         -0.453         0              0              0
  80  Shelf           -4.030         0.259          -0.301         0              185.034        0
  81  Shelf           -4.030         0.489          -0.301         0              185.034        0
  82  EastWall
  83  EastWall
  84  SouthWall

Plan:
STEP 1: Turn around and head to the fridge on the left.  | STEP 2: Take the tray on the left out of the fridge.  | STEP 3: Bring the tray to the stove on the right.  | STEP 4: Heat the tray in the microwave above the stove.  | STEP 5: Bring the heated tray to the sink on the right.  | STEP 6: Put the tray in the cabinet above the sink.  | END