Task: Put a heated cup in the cabinet above the sink.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          -1.0           0              270            0
   1  Pan             -0.937         0.565          0.119          0              90             0              74
   2  DishSponge      1.423          0.069          2.879          0              0              0              80
   3  Fork            -1.043         0.938          0.765          0              0              0              67
   4  Fork            -0.723         0.747          0.847          0              270            0              65
   5  Spoon           -0.792         0.747          2.381          0              180            0              43
   6  Spoon           -1.043         0.939          1.154          0              0              0              67
   7  Cup             -0.964         0.813          0.348          0              90             0              74
   8  Cup             1.750          1.499          2.526          0              0              0              61
   9  Cup             -1.116         1.500          0.692          0              0              0              53
  10  Plate           -1.076         1.832          0.303          0              0              0              56
  11  Plate           -0.791         0.088          0.985          0              0              0              54
  12  Knife           -0.689         0.768          1.050          0              270            0              65
  13  Knife           -1.127         0.959          2.234          0              90             0              42
  14  Bowl            1.346          0.097          0.373          0              0              0              52
  15  SaltShaker      -0.827         0.743          0.711          0              180            0              65
  16  Lettuce         1.669          1.028          0.806          0              0              0              47
  17  Bread           -0.971         1.387          0.042          0              90             0              74
  18  Mug             -1.211         0.932          2.386          0              0              0              42
  19  Mug             1.422          0.838          1.369          0              0              0              84
  20  Apple           1.456          0.119          2.977          0              0              0              80
  21  Lettuce         1.460          1.014          1.677          5.162          59.535         356.178        69
  22  SoapBottle      1.309          0.100          0.171          0              0              0              52
  23  Bread           -0.923         0.990          2.265          0              302.470        0              42
  24  Fork            -0.896         0.747          0.847          0              270            0              65
  25  Tomato          -0.899         0.627          -0.110         0              90             0              74
  26  Bowl            1.626          1.500          1.011          0              0              0              49
  27  Pot             -1.109         0.930          1.865          0              0              0              66
  28  Spatula         -0.792         0.761          0.914          0              90             0              65
  29  Knife           1.448          0.768          0.780          0              90             0              72
  30  SaltShaker      -1.192         1.825          -0.081         0              0              0              55
  31  Apple           1.362          0.987          2.597          0              0              0              47
  32  PepperShaker    -0.712         0.934          2.386          0              0              0              43
  33  ButterKnife     -0.876         0.937          0.687          0              0              0              67
  34  Potato          1.439          0.970          1.007          0              0              0              47
  35  Plate           1.377          1.059          0.012          0              0              0              48
  36  DishSponge      -1.211         0.937          2.159          0              0              0              42
  37  Egg             1.556          0.105          2.945          0              0              0              80
  38  Cup             -1.121         1.499          2.216          0              180            0              73
  39  Pan             -0.971         1.498          0.195          0              90             0              74
  40  Spoon           -0.793         0.939          1.076          0              0              0              67
  41  Mug             1.652          1.591          1.598          0              270            0              81
  42  CounterTop      -0.973         0.973          2.386          0              0              0
  43  Drawer          -0.783         0.774          2.381          0              180            0
  44  StoveBurner     -1.108         0.922          1.470          0              0              0
  45  Drawer          1.370          0.774          2.391          0              0              0
  46  Stool           -0.748         0.008          3.116          0              0              0
  47  CounterTop      1.504          0.973          2.309          0              0              0
  48  Cabinet         1.219          1.388          0.591          0              0              0
  49  Cabinet         1.500          2.113          1.164          0              0              0
  50  Cabinet         1.219          2.010          0.591          0              0              0
  51  Cabinet         1.219          0.388          2.105          0              0              0
  52  Cabinet         1.219          0.553          0.591          0              0              0
  53  Cabinet         -0.913         2.113          1.164          0              0              0
  54  Cabinet         -0.633         0.388          0.627          0              0              0
  55  Cabinet         -0.913         2.050          -0.329         0              0              0
  56  Cabinet         -0.913         2.113          0.583          0              0              0
  57  Cabinet         -0.913         2.113          2.082          0              0              0
  58  Cabinet         -0.913         2.113          1.207          0              0              0
  59  Cabinet         1.500          2.113          2.082          0              0              0
  60  Cabinet         1.500          2.113          1.207          0              0              0
  61  Cabinet         1.500          1.810          2.691          0              0              0
  62  Cabinet         1.500          1.810          2.101          0              0              0
  63  Cabinet         -0.633         0.388          2.105          0              0              0
  64  Cabinet         -0.911         1.810          2.700          0              180            0
  65  Drawer          -0.783         0.774          0.915          0              180            0
  66  StoveBurner     -1.108         0.922          1.865          0              0              0
  67  CounterTop      -0.972         0.973          0.921          0              0              0
  68  Cabinet         1.219          0.388          0.631          0              0              0
  69  Sink            1.544          0.869          1.639          0              180            0
  70  StoveBurner     -0.832         0.922          1.865          0              0              0
  71  StoveBurner     -0.831         0.922          1.470          0              0              0
  72  Drawer          1.370          0.774          0.916          0              0              0
  73  Cabinet         -0.911         1.810          2.111          0              180            0
  74  Fridge          -1.001         0.0            0.119          0              0              0
  75  StoveKnob       -0.648         0.926          1.923          0              270            0
  76  StoveKnob       -0.648         0.926          1.363          0              270            0
  77  StoveKnob       -0.648         0.926          1.513          0              270            0
  78  StoveKnob       -0.648         0.926          1.763          0              270            0
  79  Toaster         -1.002         0.926          2.561          0              90             0
  80  GarbageCan      1.451          -0.029         2.912          0              0              0
  81  Microwave       1.632          1.480          1.645          0              270            0
  82  Window          0.224          1.601          3.509          90             0              0
  83  CoffeeMachine   1.692          0.926          2.453          0              270            0
  84  SinkBasin       1.461          0.833          1.369          0              180            0
  85  LightSwitch     0.451          1.412          -1.674         0              0              0
  86  Faucet          1.707          0.925          1.363          0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Move to the coffee maker to the left of the sink | STEP 2: pick up a cup from the counter | STEP 3: move to the sink to the right | STEP 4: heat the cup in the microwave | STEP 5: move away from the sink a bit | STEP 6: put the cup in the cabinet above the sink | END