Task: Putting a cup in a cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.914          2.5            0              180            0
   1  Pan             -3.143         0.966          1.971          0              0              0              67
   2  DishSponge      -1.711         0.915          4.146          0              0              0              47
   3  DishSponge      -3.654         0.915          1.607          0              0              0              56
   4  ButterKnife     -3.368         0.915          1.440          0              180            0              56
   5  WineBottle      -2.309         0.081          3.625          0              0              0              58
   6  WineBottle      -2.402         0.916          4.106          0              0              0              47
   7  Kettle          -0.994         0.892          0.152          0              90             0              83
   8  Kettle          -3.424         0.966          1.971          0              0              0              55
   9  Spatula         -2.804         0.930          3.567          0              90             0              47
  10  Spatula         -1.655         0.906          -0.053         0              180            0              83
  11  Spoon           -3.368         0.916          3.008          0              180            0              47
  12  Spoon           -1.787         0.892          0.255          0              90             0              83
  13  Cup             -1.919         0.915          4.188          0              0              0              47
  14  Bowl            -2.126         0.914          4.188          0              0              0              47
  15  SaltShaker      -1.565         0.077          3.586          0              0              0              58
  16  PepperShaker    -1.259         0.887          0.461          0              90             0              83
  17  Lettuce         -1.523         0.977          0.255          0              90             0              83
  18  Bread           -1.192         0.167          3.788          0              270            0              79
  19  Bread           -1.259         0.972          0.255          0              90             0              83
  20  Mug             -3.540         1.454          1.152          0              0              0              65
  21  Mug             -1.793         0.784          3.662          0              270            0              77
  22  Apple           -0.439         1.046          3.926          0              180            0              73
  23  Apple           -0.994         0.956          -0.053         0              90             0              83
  24  Egg             -3.081         0.950          3.172          0              0              0              47
  25  Knife           -0.994         0.915          0.358          0              90             0              83
  26  Fork            -2.302         0.916          4.214          0              270            0              47
  27  Bread           -3.463         0.997          1.189          0              0              0              56
  28  Potato          -1.523         0.923          0.564          0              90             0              83
  29  Plate           -3.005         0.904          3.677          0              0              0              47
  30  Pot             -3.144         0.963          2.374          0              0              0              50
  31  Kettle          -3.176         0.916          1.273          0              0              0              56
  32  WineBottle      -3.081         0.916          3.008          0              0              0              47
  33  Bowl            -1.523         0.890          0.049          0              90             0              83
  34  Tomato          -0.790         1.054          3.801          0              180            0              73
  35  Cup             -0.439         0.722          3.869          0              180            0              73
  36  Spatula         -3.463         0.930          3.663          0              90             0              47
  37  SoapBottle      -3.459         1.995          2.421          0              0              0              62
  38  Lettuce         -0.673         1.072          4.051          0              180            0              73
  39  Pan             -2.614         0.902          3.620          0              0              0              47
  40  Apple           -1.921         0.849          3.737          0              0              0              77
  41  SaltShaker      -3.271         0.077          2.752          0              0              0              60
  42  PepperShaker    -3.126         0.743          3.027          0              0              0              49
  43  ButterKnife     -3.368         0.915          3.827          0              0              0              47
  44  DishSponge      -1.655         0.891          0.564          0              90             0              83
  45  Spoon           -2.402         0.916          3.890          0              0              0              47
  46  Mug             -3.463         0.910          1.440          0              0              0              56
  47  CounterTop      -3.381         0.950          3.335          0              0              0
  48  Drawer          -3.121         0.775          1.357          0              0              0
  49  Drawer          -3.121         0.777          2.916          0              0              0
  50  StoveBurner     -3.148         0.958          2.374          0              0              0
  51  Sink            -1.797         0.917          3.660          0              0              0
  52  Cabinet         -1.421         0.388          3.459          0              0              0
  53  StoveBurner     -3.424         0.958          2.374          0              0              0
  54  Cabinet         -3.365         1.931          2.676          0              0              0
  55  StoveBurner     -3.424         0.958          1.971          0              0              0
  56  CounterTop      -3.381         0.951          1.356          0              0              0
  57  Drawer          -3.121         0.781          3.295          0              0              0
  58  Cabinet         -2.205         0.388          3.459          0              0              0
  59  Cabinet         -2.963         0.388          3.459          0              0              0
  60  Cabinet         -2.992         0.388          2.683          0              0              0
  61  Cabinet         -3.352         2.205          1.715          0              0              0
  62  Cabinet         -3.352         2.205          2.653          0              0              0
  63  Cabinet         -2.189         0.388          3.466          0              0              0
  64  Cabinet         -3.365         1.931          3.963          0              0              0
  65  Cabinet         -3.365         1.931          1.056          0              0              0
  66  Cabinet         -2.992         0.388          1.037          0              0              0
  67  StoveBurner     -3.143         0.958          1.971          0              0              0
  68  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  69  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  70  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  71  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  72  Toaster         -2.654         0.902          4.064          0              180            0
  73  Fridge          -0.439         0.014          3.996          0              0              0
  74  LightSwitch     0.25           1.383          2.085          0              270            0
  75  Window          -1.430         1.338          -0.347         90             0              0
  76  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  77  SinkBasin       -1.802         0.778          3.700          0              0              0
  78  Microwave       -3.484         1.430          2.182          0              90             0
  79  GarbageCan      -1.184         -0.020         3.794          0              270            0
  80  Blinds          -1.404         2.092          -0.296         0              0              0
  81  Stool           -1.373         0.014          1.048          1.214          20.754         0
  82  Faucet          -1.788         0.903          3.931          270            90             0
  83  DiningTable     -1.399         0.010          0.238          0              0              0
  84  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Turn around and go to the sink | STEP 2: Grab the cup that is at the top of the sink | STEP 3: Turn around and go to the microwave | STEP 4: Heat the cup in the microwave and then take it out | STEP 5: Look up at the cabinets above the microwave | STEP 6: Put the cup in the top left cabinet | END