Task: Retrieve green cup from table, cook in microwave, place on counter in front of bread

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          0.0            0              90             0
   1  Pan             1.543          0.909          -0.320         0              90             0              40
   2  DishSponge      1.656          0.910          -1.717         0              90             0              41
   3  DishSponge      1.726          0.910          -1.545         0              90             0              41
   4  Pot             1.807          0.909          0.075          0              180            0              38
   5  Spatula         0.220          0.925          1.092          0              270            0              37
   6  Egg             1.830          0.105          1.540          0              270            0              55
   7  Knife           0.989          0.943          0.915          0              90             0              37
   8  Tomato          1.796          0.975          -1.717         0              90             0              41
   9  Tomato          0.220          0.974          0.915          0              90             0              37
  10  SaltShaker      1.586          0.906          -1.288         0              90             0              41
  11  Lettuce         1.757          1.010          1.004          0              90             0              37
  12  Bread           -0.692         0.537          -1.476         0              0              0              64
  13  Apple           1.684          0.967          0.518          0              90             0              37
  14  Apple           1.706          1.072          -0.888         0              270            0              61
  15  Plate           1.802          1.647          -0.000         0              0              0              47
  16  SoapBottle      1.769          1.643          -1.806         0              0              0              51
  17  Cup             0.476          0.908          1.004          0              90             0              37
  18  Egg             1.709          0.105          1.731          0              270            0              55
  19  Fork            1.757          0.911          0.915          0              180            0              37
  20  Ladle           1.201          0.926          0.743          3.353          0              346.984        37
  21  Apple           -0.644         1.446          -1.594         0              0              0              64
  22  SaltShaker      1.501          0.905          0.827          0              90             0              37
  23  Pan             1.281          0.900          1.190          0              0              0              37
  24  Tomato          1.77           0.134          1.636          0              270            0              55
  25  Spatula         1.501          0.925          0.739          0              180            0              37
  26  Potato          1.355          0.951          -1.247         0              90             0              41
  27  Knife           1.839          0.943          0.415          0              0              0              37
  28  ButterKnife     0.296          0.9            -1.296         0              14.568         0              41
  29  Bread           0.476          0.987          1.180          0              90             0              37
  30  Lettuce         1.865          1.011          -1.545         0              90             0              41
  31  PepperShaker    1.607          0.905          0.311          0              90             0              37
  32  Pot             1.548          0.909          0.075          0              180            0              43
  33  DishSponge      1.805          2.136          0.918          0              0              0              45
  34  Spoon           1.607          0.911          0.467          0              270            0              37
  35  Bowl            0.193          0.900          1.170          0              0              0              37
  36  Mug             0.502          0.940          -1.460         0              0              0              63
  37  CounterTop      0.989          0.946          1.016          0              90             0
  38  StoveBurner     1.807          0.907          0.075          0              180            0
  39  StoveBurner     1.807          0.907          -0.320         0              180            0
  40  StoveBurner     1.543          0.907          -0.320         0              90             0
  41  CounterTop      0.989          0.946          -1.516         0              90             0
  42  Sink            1.100          0.906          -1.599         0              0              0
  43  StoveBurner     1.548          0.907          0.075          0              180            0
  44  Cabinet         1.658          2.299          1.313          0              0              0
  45  Cabinet         1.658          2.299          0.686          0              0              0
  46  Cabinet         1.658          2.049          0.673          0              0              0
  47  Cabinet         1.658          2.059          0.193          0              0              0
  48  Cabinet         1.658          2.059          -0.593         0              0              0
  49  Cabinet         1.658          2.049          -0.606         0              0              0
  50  Cabinet         1.658          2.049          -1.206         0              0              0
  51  Cabinet         1.658          2.049          -1.893         0              0              0
  52  Toaster         0.131          0.900          -1.589         0              0              0
  53  Window          -0.372         1.588          3.349          90             0              0
  54  Window          0.782          1.741          -1.893         90             0              0
  55  GarbageCan      1.770          -0.029         1.685          0              270            0
  56  SinkBasin       1.091          0.740          -1.599         0              0              0
  57  StoveKnob       1.364          0.821          0.086          48.421         270            0
  58  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  59  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  60  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  61  Microwave       1.752          0.900          -0.843         0              270            0
  62  LightSwitch     2.0            1.261          3.094          0              270            0
  63  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  64  Fridge          -0.533         0.0            -1.554         0              0              0
  65  Chair           1.068          0.000          1.752          0              191.622        0
  66  Faucet          1.110          1.138          -1.764         0              270            0
  67  Chair           0.357          0.000          1.710          0              178.899        0
  68  NorthWall
  69  EastWall
  70  SouthWall
  71  WestWall

Plan:
STEP 1: Turn around, walk to table | STEP 2: Pick up green cup from table | STEP 3: Turn around, walk to microwave | STEP 4: Cook cup in the microwave | STEP 5: Turn left, walk to counter | STEP 6: Put cup on counter in front of bread | END