Task: Place a heated 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           0.0            0.900          2.0            0              270            0
   1  Vase            -0.846         0.934          -1.540         0              0              0              54
   2  Potato          1.087          1.673          1.349          0              270            0              77
   3  CellPhone       0.834          0.492          -0.648         0              270            0              58
   4  CellPhone       1.114          0.908          -0.208         0              0              0              55
   5  ButterKnife     -0.772         0.933          -1.308         0              0              0              54
   6  Glassbottle     1.199          0.912          -0.381         0              0              0              55
   7  Spatula         -0.698         0.791          -0.573         0              270            0              75
   8  Pot             1.077          0.950          -1.504         0              0              0              50
   9  Cup             1.148          1.663          -0.657         0              270            0              63
  10  Cup             -1.418         0.930          -1.167         0              0              0              54
  11  SoapBottle      0.913          0.121          0.374          0              270            0              49
  12  SoapBottle      -1.007         0.177          0.543          0              180            0              74
  13  Bowl            1.055          1.669          0.025          0              270            0              62
  14  Bowl            1.193          1.669          0.216          0              270            0              62
  15  PepperShaker    1.056          1.662          -0.337         0              270            0              63
  16  Lettuce         1.029          0.988          -0.381         0              0              0              55
  17  Lettuce         -0.697         0.857          -0.745         0              90             0              75
  18  Mug             1.026          0.858          1.540          0              270            0              77
  19  Mug             1.093          1.790          -1.132         0              270            0              76
  20  Statue          -1.229         0.936          -0.905         0              0              0              54
  21  Glassbottle     0.861          0.109          -2.212         0              0              0              59
  22  Bread           -1.229         1.014          0.144          0              0              0              54
  23  CreditCard      -1.778         0.551          2.874          0              0              0              80
  24  CellPhone       0.944          0.908          -0.381         0              0              0              55
  25  Potato          -0.642         0.811          -0.918         0              90             0              75
  26  Knife           0.773          0.934          -1.965         0              90             0              60
  27  Fork            -0.698         0.777          -0.486         0              90             0              75
  28  Pan             1.126          2.205          -1.408         0              0              0              61
  29  Lettuce         0.688          0.988          -0.729         0              0              0              55
  30  Plate           1.026          0.866          1.158          0              270            0              77
  31  Apple           0.688          0.961          -2.308         0              0              0              60
  32  Pot             0.859          0.914          -0.034         0              0              0              55
  33  Spatula         -0.697         0.791          -0.918         0              90             0              75
  34  PaperTowelRoll  -1.101         0.283          0.510          0              90             0              74
  35  Tomato          1.026          1.442          1.540          0              270            0              77
  36  Egg             0.688          0.949          -1.879         0              0              0              60
  37  SaltShaker      -1.570         0.550          2.718          0              0              0              80
  38  PepperShaker    -1.467         0.550          2.718          0              0              0              80
  39  Vase            -1.104         0.933          -0.643         0              0              0              54
  40  ButterKnife     0.944          0.911          -0.729         0              0              0              55
  41  SoapBottle      0.861          0.108          -1.892         0              0              0              59
  42  Vase            -1.881         0.555          2.615          0              0              0              80
  43  Bowl            0.905          1.405          1.349          0              270            0              77
  44  DishSponge      -1.571         0.881          2.692          0              0              0              80
  45  Spoon           -1.104         0.934          -1.167         0              0              0              54
  46  Cup             -0.808         0.777          -0.918         0              90             0              75
  47  Mug             0.688          0.906          -2.051         0              0              0              60
  48  StoveBurner     0.842          0.919          -1.098         0              0              0
  49  Cabinet         0.648          0.474          0.244          0              270            0
  50  StoveBurner     1.077          0.919          -1.504         0              0              0
  51  StoveBurner     0.842          0.919          -1.504         0              0              0
  52  Drawer          0.637          0.755          -0.649         0              270            0
  53  Cabinet         0.949          2.159          -2.375         0              270            0
  54  CounterTop      -1.238         0.968          -0.643         0              0              0
  55  CounterTop      0.931          0.946          -0.208         0              0              0
  56  StoveBurner     1.077          0.919          -1.098         0              0              0
  57  Drawer          0.637          0.268          -0.649         0              270            0
  58  Drawer          0.637          0.547          -0.649         0              270            0
  59  Cabinet         0.648          0.475          -1.714         0              0              0
  60  CounterTop      0.931          0.946          -2.051         0              0              0
  61  Cabinet         0.948          2.439          -1.780         0              270            0
  62  Cabinet         0.948          2.159          -0.140         0              270            0
  63  Cabinet         0.949          2.159          -0.758         0              270            0
  64  Sink            -0.699         0.927          -0.649         0              0              0
  65  LightSwitch     -2.371         1.218          3.049          0              180            0
  66  StoveKnob       0.673          0.899          -1.373         315            90             180
  67  StoveKnob       0.673          0.899          -1.519         315            90             180
  68  StoveKnob       0.673          0.899          -1.086         315            90             180
  69  StoveKnob       0.673          0.899          -1.237         315            90             180
  70  Toaster         0.984          0.900          0.329          0              270            0
  71  Window          0.014          0.998          -2.640         90             0              0
  72  Window          -2.996         0.998          -2.640         90             0              0
  73  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  74  GarbageCan      -0.946         -0.036         0.575          0              180            0
  75  SinkBasin       -0.698         0.765          -0.647         0              90             0
  76  Microwave       1.042          1.680          -1.295         0              270            0
  77  Fridge          0.966          0.0            1.253          0              0              0
  78  HousePlant      -1.354         0.919          -1.540         0              0              0
  79  Shelf           -1.635         0.172          2.715          0              180            0
  80  Shelf           -1.635         0.552          2.715          0              180            0
  81  Shelf           -1.635         0.880          2.715          0              180            0
  82  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  83  Chair           -1.832         0.002          -0.034         0              119.999        0
  84  Chair           -1.854         0.002          -0.956         0              67.887         0
  85  Faucet          -0.867         1.161          -0.651         0              0              0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn left and head to the counter top the is directly to the left of the stove | STEP 2: Open the cabinet that is above the counter and pick up the green cup then close the cabinet | STEP 3: Turn right and walk to the stove | STEP 4: Open the microwave above the stove and place the green cup inside to the right of the coffee mug then close the microwave and turn it on. Open the microwave and pick up the green cup then close the microwave | STEP 5: Take a couple steps to stand in front of the counter to the right of the stove. | STEP 6: Open the cabinet above the counter and place the green cup inside on the right hand side. | END