Task: Heat a cup and place it with 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           -1.5           0.869          -2.5           0              0              0
   1  Potato          0.877          0.916          -0.314         0              0              0              42
   2  DishSponge      0.817          0.759          -0.252         0              0              0              41
   3  Spatula         0.149          0.915          1.101          0              90             0              68
   4  Spoon           0.799          0.773          -0.570         0              270            0              65
   5  Spoon           0.841          0.666          0.326          0              0              0              47
   6  Pot             -2.097         0.930          0.785          0              0              0              44
   7  Egg             0.630          0.809          -0.515         0              270            0              65
   8  Knife           -1.886         0.724          -1.091         0              0              0              78
   9  Knife           0.769          0.782          -0.188         0              0              0              41
  10  Tomato          0.824          1.207          -1.880         0              270            0              62
  11  Tomato          0.901          0.712          0.508          0              0              0              47
  12  SoapBottle      -2.054         0.701          -1.199         0              0              0              78
  13  Bowl            0.858          1.462          -0.084         0              0              0              53
  14  PepperShaker    -0.252         0.896          0.843          0              270            0              68
  15  Bread           -1.056         0.944          0.929          0              270            0              68
  16  Lettuce         0.785          1.461          -1.880         0              270            0              62
  17  Lettuce         0.149          0.987          0.843          0              270            0              68
  18  Mug             0.715          0.767          -0.680         0              270            0              65
  19  Apple           -0.654         0.954          0.758          0              270            0              68
  20  Pot             -1.552         0.930          0.785          0              0              0              46
  21  Plate           -2.023         0.692          -1.447         0              0              0              78
  22  Fork            0.721          0.665          0.508          0              0              0              47
  23  SoapBottle      0.781          0.664          0.508          0              0              0              47
  24  Apple           -1.297         0.105          -3.537         0              270            0              57
  25  Pan             0.740          -0.007         -0.596         0              0              0              45
  26  Egg             -1.896         0.836          -3.738         0              0              0              64
  27  Spatula         -1.535         0.715          -3.782         0              90             0              69
  28  Potato          0.669          1.407          -2.190         0              270            0              62
  29  Cup             0.746          0.663          -1.958         0              270            0              62
  30  SaltShaker      0.787          0.012          -0.184         0              0              0              52
  31  PepperShaker    0.842          0.012          0.011          0              0              0              52
  32  ButterKnife     0.729          0.883          0.098          0              0              0              42
  33  DishSponge      0.720          0.759          -0.124         0              0              0              41
  34  Bread           -0.051         0.944          1.015          0              270            0              68
  35  Lettuce         -1.719         0.788          -1.199         0              0              0              78
  36  Tomato          0.661          0.712          0.326          0              0              0              47
  37  Spoon           0.720          0.761          -0.061         0              0              0              41
  38  Knife           0.574          0.783          -0.124         0              90             0              41
  39  Mug             0.566          0.010          0.076          0              180            0              52
  40  Bowl            0.746          0.464          -1.802         0              270            0              62
  41  Drawer          0.706          0.766          -0.125         0              0              0
  42  CounterTop      0.792          0.919          -0.108         0              0              0
  43  Mirror          1.093          1.602          -0.643         0              0              0
  44  StoveBurner     -2.096         0.890          0.785          0              0              0
  45  Cabinet         0.507          0.345          -0.426         0              0              0
  46  StoveBurner     -1.552         0.890          0.785          0              0              0
  47  SideTable       0.770          -0.030         0.443          0              0              0
  48  Sink            0.753          0.882          -0.680         0              0              0
  49  StoveBurner     -2.096         0.890          1.049          0              0              0
  50  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  51  StoveBurner     -1.554         0.890          1.049          0              0              0
  52  Cabinet         0.507          0.345          0.156          0              0              0
  53  Cabinet         0.717          1.822          -0.398         0              0              0
  54  Cabinet         0.717          1.822          0.669          0              0              0
  55  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  56  Toaster         -0.522         0.886          1.081          0              180            0
  57  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  58  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  59  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  60  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  61  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  62  Fridge          0.680          -0.031         -1.957         0              0              0
  63  Window          -2.424         1.639          -2.453         90             270            0
  64  Microwave       -1.994         0.690          -3.651         0              0              0
  65  SinkBasin       0.757          0.762          -0.688         0              270            0
  66  LightSwitch     1.102          1.368          -3.737         0              270            0
  67  Shelf           -0.350         0.124          0.857          0              0              0
  68  DiningTable     -0.350         -0.025         0.857          0              0              0
  69  DiningTable     -1.909         -0.032         -3.507         0              0              0
  70  Blinds          -2.343         2.151          -2.437         0              270            0
  71  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  72  AluminumFoil    0.751          0.225          0.287          0              0              0
  73  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  74  Shelf           0.771          0.226          0.445          0              0              0
  75  Shelf           0.771          0.456          0.446          0              0              0
  76  Faucet          1.025          0.873          -0.678         270            180            0
  77  Shelf           -0.350         0.497          0.857          0              0              0
  78  DiningTable     -1.929         -0.035         -1.398         0              90             0
  79  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Take a step to the right, and turn right to find the sink. | STEP 2: Pick up the cup from inside the sink. | STEP 3: Carry the cup and turn around and then left to find the microwave. | STEP 4: Open the microwave and place the cup inside. Shut the door. Open the door, take out the cup and then shut the door. | STEP 5: Carry the cup and turn to the left, then left again and locate the coffee machine on the right. | STEP 6: Place the cup on the coffee machine. | END