Task: heat the cup in the microwave, put 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           -2.0           0.900          -0.25          0              0              0
   1  Kettle          1.361          0.962          0.561          0              270            0              59
   2  Kettle          1.681          1.329          -1.809         0              180            0              70
   3  Potato          -2.340         0.982          0.614          0              90             0              87
   4  Potato          -2.340         0.982          0.255          0              90             0              87
   5  DishSponge      -0.971         0.773          -1.538         0              0              0              67
   6  DishSponge      -0.361         0.069          0.482          0              90             0              83
   7  ButterKnife     -2.614         0.952          0.524          0              270            0              87
   8  Spatula         -2.477         0.967          0.435          0              180            0              87
   9  Egg             0.377          0.818          -1.648         0              270            0              77
  10  Egg             0.856          0.954          -1.582         0              270            0              52
  11  Cup             -2.065         0.950          0.435          0              90             0              87
  12  Knife           -1.928         0.977          0.435          0              270            0              87
  13  Knife           1.846          0.937          0.540          0              90             0              69
  14  Tomato          -2.397         0.829          -1.849         0              0              0              84
  15  Bowl            -2.203         0.951          0.255          0              90             0              87
  16  Bowl            -2.135         1.492          -1.720         0              0              0              84
  17  SaltShaker      1.658          0.908          -1.903         0              0              0              54
  18  SaltShaker      -2.203         0.948          0.704          0              90             0              87
  19  PepperShaker    -1.791         0.948          0.704          0              90             0              87
  20  PepperShaker    1.663          0.908          0.706          0              0              0              69
  21  Lettuce         -1.791         1.042          0.255          0              90             0              87
  22  Mug             1.663          0.907          0.292          0              0              0              69
  23  Mug             1.907          0.907          0.292          0              0              0              69
  24  Mug             0.701          0.914          -1.649         0              0              0              52
  25  Bread           1.299          0.978          -1.532         0              0              0              54
  26  Knife           1.781          0.937          -1.820         0              0              0              54
  27  Fork            1.907          0.912          0.540          0              0              0              69
  28  Bowl            -1.791         0.951          0.524          0              90             0              87
  29  Kettle          1.361          0.962          0.294          0              180            0              49
  30  Cup             -0.359         0.910          -1.903         0              0              0              54
  31  Tomato          0.300          0.961          0.209          0              0              0              53
  32  SoapBottle      1.663          0.910          0.623          0              0              0              69
  33  Plate           0.562          0.111          0.308          0              0              0              65
  34  Pot             1.007          0.962          0.561          0              270            0              56
  35  Spatula         0.908          0.934          -1.516         0              0              0              52
  36  PaperTowelRoll  -0.362         0.174          0.569          0              90             0              83
  37  Egg             0.804          0.954          -1.449         0              270            0              52
  38  Lettuce         1.658          1.002          -1.654         0              0              0              54
  39  SaltShaker      -2.614         0.948          0.255          0              90             0              87
  40  PepperShaker    1.785          0.908          0.540          0              0              0              69
  41  Apple           -0.096         0.979          0.706          0              0              0              53
  42  ButterKnife     1.846          0.912          0.375          0              180            0              69
  43  Potato          1.846          0.942          0.209          0              0              0              69
  44  Pan             -0.451         0.911          -1.489         0              0              0              54
  45  DishSponge      -2.065         0.951          0.165          0              90             0              87
  46  Spoon           0.341          0.777          -1.552         0              270            0              77
  47  Mug             1.601          0.907          0.458          0              90             0              69
  48  Cabinet         -0.193         1.688          -1.648         0              180            0
  49  StoveBurner     1.360          0.957          0.293          0              180            0
  50  Drawer          0.499          0.792          0.296          0              0              0
  51  Cabinet         0.095          0.400          -1.352         0              180            0
  52  Sink            0.711          0.817          -1.772         0              270            0
  53  CounterTop      0.280          0.947          0.458          0              0              0
  54  CounterTop      -0.680         0.947          -1.654         0              0              0
  55  Drawer          1.825          0.792          0.296          0              0              0
  56  StoveBurner     1.007          0.957          0.561          0              270            0
  57  Drawer          -0.150         0.792          -1.496         0              0              0
  58  Drawer          -0.586         0.792          -1.496         0              0              0
  59  StoveBurner     1.360          0.957          0.561          0              270            0
  60  Drawer          0.024          0.792          0.296          0              0              0
  61  Cabinet         1.079          0.400          -1.349         0              180            0
  62  Cabinet         1.669          0.402          0.151          0              0              0
  63  Cabinet         0.055          0.402          -1.351         0              0              0
  64  Cabinet         -0.180         0.402          0.151          0              0              0
  65  Cabinet         0.729          0.402          0.151          0              0              0
  66  StoveBurner     1.007          0.957          0.293          0              180            0
  67  Drawer          -1.100         0.792          -1.496         0              0              0
  68  Cabinet         -0.396         0.402          -1.351         0              0              0
  69  CounterTop      1.776          0.947          0.458          0              0              0
  70  Cabinet         1.974          1.688          -1.648         0              180            0
  71  Cabinet         -0.820         0.400          -1.349         0              180            0
  72  Toaster         0.305          0.900          0.552          0              180            0
  73  LightSwitch     -2.756         1.307          -0.987         0              90             0
  74  Window          0.582          1.613          -1.967         90             0              0
  75  Window          1.969          1.5            -0.615         90             270            0
  76  Microwave       -1.037         0.900          -1.723         0              0              0
  77  SinkBasin       0.377          0.765          -1.655         0              270            0
  78  CoffeeMachine   0.618          0.900          0.600          0              180            0
  79  StoveKnob       1.246          0.913          0.118          45             180            0
  80  StoveKnob       1.373          0.913          0.118          45             180            0
  81  StoveKnob       0.995          0.913          0.118          45             180            0
  82  StoveKnob       1.126          0.913          0.118          45             180            0
  83  GarbageCan      -0.368         -0.029         0.539          0              90             0
  84  Fridge          -2.134         0.0            -1.690         0              0              0
  85  Faucet          0.549          1.046          -1.833         0              232.527        0
  86  Stool           -1.475         0.000          0.414          1.233          280.375        0
  87  DiningTable     -2.255         -0.004         0.432          0              0              0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

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