Task: Warm up the cup inside 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           -3.75          0.900          -1.25          0              0              0
   1  Pan             0.905          0.860          1.158          0              270            0              88
   2  Statue          -1.469         0.884          2.719          0              0              0              65
   3  Statue          -1.167         0.936          -0.118         0              0              0              65
   4  Potato          -1.229         0.963          -0.643         0              0              0              65
   5  Potato          -0.753         0.811          -0.400         0              90             0              86
   6  CellPhone       0.833          0.150          -0.690         0              270            0              68
   7  CellPhone       0.688          0.908          -1.879         0              0              0              71
   8  DishSponge      0.915          0.494          -0.565         0              270            0              69
   9  ButterKnife     -0.697         0.776          -0.745         0              90             0              86
  10  ButterKnife     -0.846         0.933          -0.143         0              0              0              65
  11  Glassbottle     1.199          0.912          -0.034         0              0              0              66
  12  Glassbottle     -1.363         0.554          2.615          0              0              0              91
  13  Fork            -0.753         0.781          -0.918         0              180            0              86
  14  Fork            0.944          0.911          -0.555         0              0              0              66
  15  Spatula         -0.697         0.795          -0.745         0              90             0              86
  16  Spatula         1.029          0.926          -0.034         0              0              0              66
  17  Knife           0.773          0.934          -0.729         0              180            0              66
  18  Knife           0.859          0.934          -0.381         0              0              0              66
  19  Egg             0.773          0.949          -0.555         0              0              0              66
  20  Egg             1.087          1.680          1.444          0              270            0              88
  21  Cup             1.101          1.663          -1.961         0              270            0              64
  22  Cup             -0.808         0.773          -0.832         0              90             0              86
  23  Cup             1.194          1.663          -0.337         0              270            0              74
  24  Tomato          1.087          0.903          1.540          0              270            0              88
  25  Tomato          -1.292         0.974          -0.905         0              0              0              65
  26  Bowl            0.688          0.914          -0.729         0              0              0              66
  27  SaltShaker      0.956          0.698          -0.731         0              270            0              63
  28  SaltShaker      1.169          2.204          -1.082         0              270            0              72
  29  PepperShaker    1.239          1.662          0.089          0              270            0              73
  30  Bread           1.114          0.992          -0.381         0              0              0              66
  31  Statue          -1.816         0.871          2.754          0              180            0              65
  32  Glassbottle     1.029          0.912          0.139          0              0              0              66
  33  Bread           0.966          1.482          1.349          0              270            0              88
  34  CreditCard      0.915          0.491          -0.731         0              270            0              69
  35  CellPhone       -0.920         0.930          0.162          0              0              0              65
  36  Potato          1.029          0.941          -0.729         0              0              0              66
  37  Knife           -0.550         0.957          0.162          0              0              0              65
  38  Fork            -0.550         0.934          0.009          0              0              0              65
  39  Pan             0.848          0.946          -1.080         0              0              0              59
  40  Lettuce         1.029          0.988          -1.793         0              270            0              71
  41  Plate           -1.570         0.557          2.718          0              0              0              91
  42  Apple           -0.587         0.830          -0.400         0              90             0              86
  43  Pot             1.077          0.950          -1.504         0              0              0              61
  44  Spatula         0.834          0.509          -0.565         0              270            0              69
  45  PaperTowelRoll  -0.818         0.283          0.575          0              270            0              85
  46  Tomato          -0.920         0.974          -1.386         0              0              0              65
  47  Egg             0.859          0.949          -1.879         0              0              0              71
  48  SaltShaker      -1.674         0.878          2.746          0              0              0              92
  49  PepperShaker    -0.624         0.929          -1.386         0              0              0              65
  50  Vase            1.194          1.666          -0.465         0              270            0              74
  51  ButterKnife     0.859          0.911          -0.208         0              0              0              66
  52  SoapBottle      -0.772         0.933          -1.463         0              0              0              65
  53  Vase            1.194          1.667          -2.166         0              270            0              64
  54  Bowl            1.087          1.405          0.967          0              270            0              88
  55  DishSponge      -0.587         0.780          -0.573         0              90             0              86
  56  Spoon           -0.698         0.777          -0.486         0              90             0              86
  57  Cup             0.811          0.105          -1.972         0              0              0              70
  58  Mug             -1.778         0.549          2.822          0              0              0              91
  59  StoveBurner     0.842          0.919          -1.098         0              0              0
  60  Cabinet         0.648          0.474          0.244          0              270            0
  61  StoveBurner     1.077          0.919          -1.504         0              0              0
  62  StoveBurner     0.842          0.919          -1.504         0              0              0
  63  Drawer          0.637          0.755          -0.649         0              270            0
  64  Cabinet         0.949          2.159          -2.375         0              270            0
  65  CounterTop      -1.238         0.968          -0.643         0              0              0
  66  CounterTop      0.931          0.946          -0.208         0              0              0
  67  StoveBurner     1.077          0.919          -1.098         0              0              0
  68  Drawer          0.637          0.268          -0.649         0              270            0
  69  Drawer          0.637          0.547          -0.649         0              270            0
  70  Cabinet         0.648          0.475          -1.714         0              0              0
  71  CounterTop      0.931          0.946          -2.051         0              0              0
  72  Cabinet         0.948          2.439          -1.780         0              270            0
  73  Cabinet         0.948          2.159          -0.140         0              270            0
  74  Cabinet         0.949          2.159          -0.758         0              270            0
  75  Sink            -0.699         0.927          -0.649         0              0              0
  76  LightSwitch     -2.371         1.218          3.049          0              180            0
  77  StoveKnob       0.673          0.899          -1.373         315            90             180
  78  StoveKnob       0.673          0.899          -1.519         315            90             180
  79  StoveKnob       0.673          0.899          -1.086         315            90             180
  80  StoveKnob       0.673          0.899          -1.237         315            90             180
  81  Toaster         0.984          0.900          0.329          0              270            0
  82  Window          0.014          0.998          -2.640         90             0              0
  83  Window          -2.996         0.998          -2.640         90             0              0
  84  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  85  GarbageCan      -0.946         -0.036         0.575          0              180            0
  86  SinkBasin       -0.698         0.765          -0.647         0              90             0
  87  Microwave       1.042          1.680          -1.295         0              270            0
  88  Fridge          0.966          0.0            1.253          0              0              0
  89  HousePlant      -1.354         0.919          -1.540         0              0              0
  90  Shelf           -1.635         0.172          2.715          0              180            0
  91  Shelf           -1.635         0.552          2.715          0              180            0
  92  Shelf           -1.635         0.880          2.715          0              180            0
  93  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  94  Chair           -1.832         0.002          -0.034         0              119.999        0
  95  Chair           -1.854         0.002          -0.956         0              67.887         0
  96  Faucet          -0.867         1.161          -0.651         0              0              0
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: Turn around towards the windows, turn left towards the coffee maker, turn right towards the loaf of bread on the counter, and then look up towards the cabinets. | STEP 2: Open the right cabinet and take out a green cup. | STEP 3: Take a step to the right to find the microwave above the stove. | STEP 4: Warm up the cup and take it back out of the microwave. | STEP 5: Take a step to the left and look up to the cabinet above the bread. | STEP 6: Place the cup back into the cabinet. | END