Task: Put a warm cup in the cupboard.

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          1.25           0              90             0
   1  DishSponge      1.772          1.663          -0.550         0              0              0              63
   2  ButterKnife     1.598          0.911          0.494          0              0              0              52
   3  ButterKnife     -2.538         0.910          1.530          0              0              0              71
   4  Kettle          1.691          0.929          -0.335         0              0              0              51
   5  Spoon           -2.379         0.774          -0.025         0              90             0              61
   6  Pot             1.691          0.929          0.064          0              0              0              54
   7  Pot             1.412          0.929          -0.335         0              0              0              44
   8  Egg             -2.506         1.046          2.431          0              90             0              83
   9  Cup             1.391          0.916          -1.061         0              225            0              57
  10  Plate           -0.471         0.913          1.094          0              0              0              43
  11  Tomato          -2.439         1.342          -0.602         0              90             0              75
  12  SoapBottle      -2.647         1.935          -1.034         0              0              0              64
  13  SoapBottle      -0.730         0.912          1.094          0              0              0              43
  14  Bowl            -2.310         0.111          0.026          0              0              0              59
  15  Bowl            -2.538         0.908          0.631          0              0              0              71
  16  PepperShaker    -0.211         0.905          1.764          0              0              0              43
  17  Lettuce         0.048          0.994          0.647          0              0              0              43
  18  Mug             0.464          0.955          -1.593         0              0              0              53
  19  Mug             -2.538         0.905          0.931          0              0              0              71
  20  Pan             -2.439         1.300          -0.979         0              180            0              75
  21  Knife           -2.287         0.799          0.857          0              90             0              48
  22  Apple           -2.570         1.077          2.278          0              90             0              83
  23  Bowl            -2.645         1.534          -0.019         0              0              0              66
  24  Fork            0.868          0.911          -1.580         0              45             0              53
  25  Bread           -0.471         0.996          0.870          0              0              0              43
  26  Plate           -0.211         0.913          0.423          0              0              0              43
  27  Egg             1.771          0.215          0.734          0              0              0              82
  28  Kettle          0.854          0.900          -1.790         0              0              0              53
  29  Potato          -0.081         0.947          1.540          0              0              0              43
  30  SaltShaker      -2.372         0.905          0.931          0              0              0              71
  31  Lettuce         -2.485         1.172          -0.602         0              90             0              75
  32  Cup             1.127          0.768          -1.394         0              225            0              81
  33  SoapBottle      -2.448         1.585          -1.631         0              180            0              70
  34  Spatula         -2.318         0.788          0.534          0              270            0              60
  35  PaperTowelRoll  1.684          1.015          0.346          0              0              0              52
  36  ButterKnife     1.599          0.910          -0.768         0              0              0              53
  37  PepperShaker    -2.313         0.109          1.475          0              0              0              49
  38  DishSponge      1.423          0.921          -1.309         0              225            0              57
  39  Pot             -2.599         1.541          0.774          0              0              0              56
  40  Spoon           1.372          0.922          -1.150         0              225            0              57
  41  Tomato          1.855          0.953          0.406          0              0              0              52
  42  Mug             1.807          1.651          0.313          0              0              0              63
  43  CounterTop      -0.360         0.946          1.093          0              0              0
  44  StoveBurner     1.412          0.923          -0.335         0              0              0
  45  StoveKnob       1.878          1.093          0.018          287.989        90             0
  46  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  47  Cabinet         -2.446         1.948          2.924          0              0              0
  48  Drawer          -2.276         0.792          0.902          0              0              0
  49  Cabinet         -2.145         0.402          1.578          0              0              0
  50  Cabinet         0.149          2.008          -1.603         0              90             0
  51  StoveBurner     1.691          0.923          -0.335         0              0              0
  52  CounterTop      1.585          0.946          0.405          0              0              0
  53  CounterTop      0.474          0.946          -1.625         0              0              0
  54  StoveBurner     1.691          0.923          0.064          0              0              0
  55  Cabinet         -2.446         1.948          1.687          0              0              0
  56  Cabinet         -2.446         1.948          1.640          0              0              0
  57  Sink            1.381          0.810          -1.271         0              225            0
  58  StoveKnob       1.878          1.093          0.150          287.989        90             0
  59  Cabinet         -2.145         0.402          -0.236         0              0              0
  60  Drawer          -2.276         0.792          0.437          0              0              0
  61  Drawer          -2.276         0.792          -0.027         0              0              0
  62  Cabinet         1.572          2.008          0.474          0              0              0
  63  Cabinet         1.572          2.008          -0.775         0              0              0
  64  Cabinet         -2.445         2.148          -1.275         0              0              0
  65  Cabinet         -2.446         2.148          -0.284         0              0              0
  66  Cabinet         -2.446         1.948          0.355          0              0              0
  67  Cabinet         -2.446         1.948          0.405          0              0              0
  68  Cabinet         -2.145         0.402          0.644          0              0              0
  69  Cabinet         -2.145         0.402          0.695          0              0              0
  70  Cabinet         -2.285         1.968          -1.325         0              180            0
  71  CounterTop      -1.485         0.946          1.319          0              0              0
  72  StoveBurner     1.411          0.923          0.064          0              0              0
  73  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  74  Drawer          -2.276         0.792          1.368          0              0              0
  75  Fridge          -2.475         0.0            -0.782         0              90             0
  76  LightSwitch     -0.929         1.350          -1.950         0              0              0
  77  Toaster         -2.564         0.900          1.876          0              90             0
  78  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  79  Window          1.508          1.534          -1.496         90             135            0
  80  Window          1.973          1.521          1.121          90             90             0
  81  SinkBasin       1.149          0.753          -1.380         0              225            0
  82  GarbageCan      1.646          -0.000         0.679          0              0              0
  83  Microwave       -2.580         0.900          2.440          0              90             0
  84  Stool           0.439          0.010          0.747          0              0              0
  85  Stool           -2.303         0.010          1.839          0              0              0
  86  Faucet          1.235          1.138          -1.473         0              225            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn right and walk to the dishwasher then turn left and walk to the sink. | STEP 2: Pick up the cup that's in front of you to the left of the sink. | STEP 3: Turn left and walk to the wall then turn left and walk to the microwave. | STEP 4: Warm the cup in the microwave then take it back out and close the door. | STEP 5: Look up at the cupboard above to the microwave. | STEP 6: Open the cabinet over the microwave and put the cup in there before closing the door. | END