Task: Heat a cup and place it 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           -0.25          0.900          2.25           0              270            0
   1  Pan             0.905          1.640          1.444          0              0              0              84
   2  Statue          -1.355         0.936          -0.643         0              0              0              61
   3  CreditCard      -1.571         0.878          2.746          0              0              0              88
   4  CreditCard      0.688          0.908          -0.208         0              0              0              62
   5  CellPhone       -1.467         0.550          2.770          0              0              0              87
   6  ButterKnife     1.114          0.911          -0.729         0              0              0              62
   7  ButterKnife     0.944          0.911          -0.729         0              0              0              62
   8  Glassbottle     -0.477         0.934          -1.386         0              0              0              61
   9  Glassbottle     -1.104         0.934          -0.643         0              0              0              61
  10  Fork            0.875          0.495          -0.648         0              0              0              65
  11  Fork            0.875          0.702          -0.607         0              0              0              59
  12  Spatula         0.944          0.926          -0.555         0              0              0              62
  13  Egg             -0.753         0.814          -0.573         0              90             0              82
  14  Egg             -0.960         0.216          0.576          0              180            0              81
  15  Cup             -0.753         0.773          -0.832         0              90             0              82
  16  Cup             -0.587         0.777          -0.659         0              90             0              82
  17  Plate           0.966          0.866          1.349          0              270            0              84
  18  Plate           1.169          2.211          -1.517         0              270            0              68
  19  Tomato          -1.054         0.217          0.543          0              180            0              81
  20  Tomato          -0.865         0.217          0.575          0              180            0              81
  21  SaltShaker      -0.477         0.929          -1.231         0              0              0              61
  22  PepperShaker    1.148          1.662          -0.465         0              270            0              70
  23  PepperShaker    0.913          0.117          0.398          0              270            0              62
  24  Lettuce         0.966          0.940          1.063          0              270            0              84
  25  Mug             0.960          0.103          -1.892         0              0              0              66
  26  Mug             0.903          0.942          -2.110         0              300.131        0              80
  27  Statue          -1.355         0.936          -0.380         0              0              0              61
  28  Glassbottle     1.029          0.912          -0.729         0              0              0              62
  29  Bread           -0.779         0.996          0.21           0              258.641        0              61
  30  CreditCard      -1.985         0.551          2.563          0              0              0              87
  31  CellPhone       -0.846         0.930          -1.308         0              0              0              61
  32  Potato          0.905          1.165          1.063          0              270            0              84
  33  Knife           -0.550         0.957          0.009          0              0              0              61
  34  Fork            -0.753         0.781          -0.745         0              180            0              82
  35  Pan             0.848          0.946          -1.080         0              0              0              55
  36  Lettuce         0.773          0.988          -0.381         0              0              0              62
  37  Plate           1.029          0.914          -0.381         0              0              0              62
  38  Apple           1.087          1.452          1.540          0              270            0              84
  39  Pot             1.077          0.950          -1.504         0              0              0              57
  40  Spatula         1.029          0.926          0.139          0              270            0              62
  41  PaperTowelRoll  -1.469         0.986          2.665          0              0              0              88
  42  Tomato          1.087          1.683          0.967          0              270            0              84
  43  Egg             -0.698         0.971          -1.618         0              0              0              61
  44  SaltShaker      1.009          1.662          -2.234         0              270            0              60
  45  PepperShaker    0.811          0.104          -2.052         0              0              0              66
  46  Vase            -1.423         0.169          2.621          0              0              0              87
  47  ButterKnife     0.833          0.153          -0.650         0              270            0              64
  48  SoapBottle      1.212          2.208          -1.082         0              270            0              68
  49  Vase            0.773          0.912          -0.034         0              0              0              62
  50  Bowl            1.055          1.669          0.153          0              270            0              69
  51  DishSponge      1.039          2.207          -1.191         0              270            0              68
  52  Spoon           0.834          0.704          -0.690         0              270            0              59
  53  Cup             1.240          1.663          -1.893         0              270            0              60
  54  Mug             1.148          1.661          -2.234         0              270            0              60
  55  StoveBurner     0.842          0.919          -1.098         0              0              0
  56  Cabinet         0.648          0.474          0.244          0              270            0
  57  StoveBurner     1.077          0.919          -1.504         0              0              0
  58  StoveBurner     0.842          0.919          -1.504         0              0              0
  59  Drawer          0.637          0.755          -0.649         0              270            0
  60  Cabinet         0.949          2.159          -2.375         0              270            0
  61  CounterTop      -1.238         0.968          -0.643         0              0              0
  62  CounterTop      0.931          0.946          -0.208         0              0              0
  63  StoveBurner     1.077          0.919          -1.098         0              0              0
  64  Drawer          0.637          0.268          -0.649         0              270            0
  65  Drawer          0.637          0.547          -0.649         0              270            0
  66  Cabinet         0.648          0.475          -1.714         0              0              0
  67  CounterTop      0.931          0.946          -2.051         0              0              0
  68  Cabinet         0.948          2.439          -1.780         0              270            0
  69  Cabinet         0.948          2.159          -0.140         0              270            0
  70  Cabinet         0.949          2.159          -0.758         0              270            0
  71  Sink            -0.699         0.927          -0.649         0              0              0
  72  LightSwitch     -2.371         1.218          3.049          0              180            0
  73  StoveKnob       0.673          0.899          -1.373         315            90             180
  74  StoveKnob       0.673          0.899          -1.519         315            90             180
  75  StoveKnob       0.673          0.899          -1.086         315            90             180
  76  StoveKnob       0.673          0.899          -1.237         315            90             180
  77  Toaster         0.984          0.900          0.329          0              270            0
  78  Window          0.014          0.998          -2.640         90             0              0
  79  Window          -2.996         0.998          -2.640         90             0              0
  80  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  81  GarbageCan      -0.946         -0.036         0.575          0              180            0
  82  SinkBasin       -0.698         0.765          -0.647         0              90             0
  83  Microwave       1.042          1.680          -1.295         0              270            0
  84  Fridge          0.966          0.0            1.253          0              0              0
  85  HousePlant      -1.354         0.919          -1.540         0              0              0
  86  Shelf           -1.635         0.172          2.715          0              180            0
  87  Shelf           -1.635         0.552          2.715          0              180            0
  88  Shelf           -1.635         0.880          2.715          0              180            0
  89  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  90  Chair           -1.832         0.002          -0.034         0              119.999        0
  91  Chair           -1.854         0.002          -0.956         0              67.887         0
  92  Faucet          -0.867         1.161          -0.651         0              0              0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Turn to the left, and move through the kitchen. Face the coffee machine on the counter. | STEP 2: Open the top cabinet and take out the cup. Close the cabinet. | STEP 3: Hold the cup and take a step to the left, look up to the microwave. | STEP 4: Open the microwave and place the cup inside. Shut the door and then open it. Take out the cup. | STEP 5: Hold the cup and look down, then take a step to the left and look up to the cabinet. | STEP 6: Open the cabinet and place the cup inside. | END