Task: heat the cup with microwave, put it back in the coffee machine

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          0.5            0              0              0
   1  Potato          -1.991         0.458          1.459          0              270            0              99
   2  Potato          0.466          1.819          1.488          0              180            0              104
   3  DishSponge      0.446          1.654          -0.811         0              180            0              85
   4  Kettle          0.281          0.964          1.082          0              0              0              52
   5  Kettle          2.188          1.655          1.470          0              0              0              70
   6  ButterKnife     2.488          0.911          1.129          0              0              0              81
   7  Spatula         1.688          0.926          1.299          0              0              0              81
   8  Spatula         2.156          0.926          -0.430         0              0              0              46
   9  Plate           2.524          1.658          1.468          0              0              0              71
  10  Knife           -1.056         0.853          -1.308         0              90             0              105
  11  Knife           1.902          0.944          -0.345         0              0              0              46
  12  SoapBottle      -0.621         0.826          -1.308         0              90             0              105
  13  SoapBottle      -0.621         0.826          -1.155         0              90             0              105
  14  Bowl            1.210          0.112          -0.458         0              180            0              54
  15  Bowl            0.787          1.653          -0.810         0              180            0              56
  16  SaltShaker      2.754          0.908          1.553          0              0              0              81
  17  SaltShaker      0.654          2.150          1.584          0              0              0              80
  18  PepperShaker    0.251          0.908          -0.330         0              0              0              46
  19  Mug             1.955          0.906          1.044          0              0              0              81
  20  Mug             1.428          0.968          -0.577         0              0              0              46
  21  Mug             2.488          0.906          1.553          0              0              0              81
  22  Apple           -0.836         0.889          -1.400         0              0              0              105
  23  SoapBottle      -2.019         0.429          1.332          0              270            0              99
  24  Plate           2.221          0.914          1.299          0              0              0              81
  25  Fork            -0.157         0.766          -0.707         0              90             0              103
  26  Pot             0.297          0.960          1.346          0              0              0              61
  27  Bread           1.688          0.969          1.468          0              0              0              81
  28  Egg             1.155          0.949          1.553          0              0              0              81
  29  Kettle          2.754          0.912          1.214          0              0              0              81
  30  Tomato          2.962          0.756          -0.565         0              0              0              101
  31  Cup             3.220          0.838          -0.485         0              0              0              101
  32  Spatula         -0.766         0.835          -1.206         0              0              0              105
  33  Apple           2.653          1.087          -0.709         0              0              0              101
  34  Pan             0.637          0.960          1.090          0              0              0              49
  35  Lettuce         0.053          0.846          -0.651         0              180            0              103
  36  SaltShaker      -0.007         0.908          1.299          0              0              0              57
  37  Knife           1.422          0.944          1.214          0              90             0              81
  38  Potato          2.962          1.598          -0.644         0              0              0              101
  39  PepperShaker    -0.055         0.908          1.468          0              0              0              57
  40  ButterKnife     1.155          0.911          1.299          0              0              0              81
  41  Bowl            -0.151         0.909          1.129          0              0              0              57
  42  DishSponge      1.955          0.911          1.468          0              0              0              81
  43  Spoon           -0.911         0.822          -1.257         0              270            0              105
  44  Mug             0.231          2.152          1.505          0              0              0              80
  45  Sink            0.050          0.902          -0.648         0              0              0
  46  CounterTop      1.358          0.947          -0.600         0              0              0
  47  Cabinet         2.986          2.009          1.304          0              0              0
  48  Cabinet         1.022          2.009          -0.607         0              180            0
  49  StoveBurner     0.678          0.923          1.082          0              0              0
  50  Cabinet         2.371          0.402          0.995          0              0              0
  51  Drawer          -0.125         0.792          0.995          0              0              0
  52  StoveBurner     0.281          0.923          1.082          0              0              0
  53  Cabinet         1.025          0.402          0.995          0              0              0
  54  Cabinet         1.023          0.402          -0.296         0              180            0
  55  Cabinet         0.974          2.259          1.304          0              0              0
  56  Cabinet         0.979          2.009          -0.607         0              180            0
  57  CounterTop      -0.158         0.947          1.299          0              0              0
  58  Cabinet         1.725          2.009          1.304          0              0              0
  59  Drawer          2.205          0.792          -0.294         0              180            0
  60  Drawer          1.869          0.792          -0.294         0              180            0
  61  StoveBurner     0.281          0.923          1.347          0              0              0
  62  Drawer          2.512          0.792          0.995          0              0              0
  63  Cabinet         1.673          0.402          -0.296         0              180            0
  64  Drawer          1.524          0.792          0.995          0              0              0
  65  Drawer          1.174          0.792          -0.294         0              180            0
  66  Cabinet         1.720          0.402          0.995          0              0              0
  67  Cabinet         2.348          2.009          -0.607         0              180            0
  68  Cabinet         1.676          2.009          -0.607         0              180            0
  69  Cabinet         1.673          2.009          1.304          0              0              0
  70  Cabinet         2.326          2.009          1.304          0              0              0
  71  Cabinet         2.370          2.009          1.304          0              0              0
  72  Cabinet         0.021          2.009          1.304          0              0              0
  73  Cabinet         1.025          2.009          1.304          0              0              0
  74  Cabinet         -0.274         0.402          0.995          0              0              0
  75  Cabinet         1.675          0.402          0.995          0              0              0
  76  Drawer          1.524          0.792          -0.294         0              180            0
  77  Drawer          2.187          0.792          0.995          0              0              0
  78  Cabinet         2.977          0.402          0.995          0              0              0
  79  Drawer          1.862          0.792          0.995          0              0              0
  80  Cabinet         0.072          2.259          1.304          0              0              0
  81  CounterTop      1.917          0.947          1.299          0              0              0
  82  Cabinet         2.328          0.402          0.995          0              0              0
  83  Cabinet         1.723          2.009          -0.607         0              180            0
  84  StoveBurner     0.677          0.923          1.345          0              0              0
  85  Cabinet         0.355          2.009          -0.607         0              180            0
  86  Cabinet         0.332          2.009          -0.607         0              180            0
  87  Cabinet         2.349          0.402          -0.296         0              180            0
  88  Cabinet         -0.284         2.009          -0.607         0              180            0
  89  Faucet          0.061          0.906          -0.903         0              0              0
  90  Drawer          2.837          0.792          0.995          0              0              0
  91  Drawer          1.175          0.792          0.995          0              0              0
  92  Cabinet         1.723          0.402          -0.296         0              180            0
  93  StoveKnob       0.588          1.093          1.557          287.970        0              0
  94  StoveKnob       0.188          1.093          1.557          287.970        0              0
  95  StoveKnob       0.749          1.093          1.557          287.970        0              0
  96  StoveKnob       0.338          1.093          1.557          287.970        0              0
  97  Toaster         1.934          0.900          -0.717         0              0              0
  98  LightSwitch     -1.662         1.427          1.649          0              180            0
  99  GarbageCan      -1.965         -0.029         1.358          0              270            0
 100  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 101  Fridge          3.043          0.0            -0.709         0              0              0
 102  Window          -2.183         1.501          -0.014         90             270            0
 103  SinkBasin       0.043          0.755          -0.651         0              0              0
 104  Microwave       0.531          1.675          1.437          0              180            0
 105  DiningTable     -0.836         8.404          -1.258         0              0              0
 106  Chair           -1.611         0.002          -1.185         0              45             0
 107  NorthWall
 108  EastWall
 109  SouthWall
 110  WestWall

Plan:
STEP 1: turn right, walk to the coffee machine on the right | STEP 2: grab the cup in the coffee machine | STEP 3: turn around, walk to the microwave | STEP 4: open the microwave,put the cup in, heat the cup, take the cup out | STEP 5: turn around, walk to the coffee machine | STEP 6: put the cup in the coffee machine | END