Task: place a heated cup on top of the kitchen counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.899          1.0            0              90             0
   1  Pan             -4.26          0.923          5.418          0              90             0              77
   2  Pencil          -0.503         0.746          4.849          0              270            0              67
   3  Potato          -0.334         0.958          5.603          0              0              0              62
   4  DishSponge      -0.181         0.924          5.603          0              0              0              62
   5  DishSponge      -4.121         0.790          3.347          0              270            0              109
   6  WineBottle      -4.033         0.924          4.381          0              90             0              77
   7  Pot             -2.469         0.930          1.712          0              270            0              92
   8  Spoon           -4.335         0.924          4.381          0              90             0              77
   9  Spoon           -2.109         0.924          1.648          0              270            0              59
  10  Spatula         -4.26          0.938          4.640          0              270            0              77
  11  Spatula         -1.860         0.938          1.648          0              90             0              59
  12  Egg             -4.411         0.959          5.159          0              90             0              77
  13  Knife           -1.777         0.953          1.875          0              270            0              59
  14  SoapBottle      -3.774         0.079          5.310          0              180            0              91
  15  Tomato          -3.712         0.125          6.375          0              270            0              103
  16  Tomato          -4.172         0.980          2.300          0              0              0              77
  17  Bowl            -4.196         0.787          3.159          0              270            0              109
  18  Bowl            -0.259         1.577          3.470          0              270            0              110
  19  SaltShaker      -0.532         0.742          6.074          0              270            0              97
  20  PepperShaker    -3.194         0.741          5.221          0              180            0              89
  21  PepperShaker    -0.565         0.921          4.944          0              0              0              56
  22  Lettuce         -0.401         1.165          3.850          0              270            0              110
  23  Lettuce         -0.301         1.431          3.355          0              270            0              110
  24  Bread           -0.301         1.765          3.794          0              270            0              110
  25  Mug             -0.409         0.955          6.557          0              270            0              98
  26  Mug             -0.263         2.129          5.364          0              180            0              66
  27  Egg             -3.675         0.104          6.251          0              270            0              103
  28  Apple           -3.859         0.976          1.875          0              0              0              77
  29  Knife           -1.777         0.953          2.026          0              0              0              59
  30  Potato          -0.181         0.958          5.273          0              0              0              62
  31  Fork            -2.026         0.924          1.951          0              90             0              59
  32  Bowl            -0.301         1.332          3.602          0              270            0              110
  33  Plate           -3.449         1.454          1.638          0              0              0              51
  34  Lettuce         -0.401         1.165          3.355          0              270            0              110
  35  Bread           -4.381         1.003          2.766          0              0              0              77
  36  Tomato          -2.109         0.980          1.8            0              0              0              59
  37  WineBottle      -3.419         0.083          1.889          0              0              0              52
  38  Spatula         -4.335         0.938          4.122          0              90             0              77
  39  PaperTowelRoll  -1.610         1.027          1.875          0              0              0              59
  40  Cup             -0.565         0.923          4.615          0              0              0              62
  41  Pencil          -3.801         0.747          5.162          0              180            0              80
  42  Pan             -2.454         0.933          2.023          0              240.000        0              65
  43  Pot             -2.924         0.930          1.712          0              180            0              74
  44  SaltShaker      -1.905         1.449          1.671          0              0              0              96
  45  SoapBottle      -1.943         0.923          1.648          0              0              0              59
  46  PepperShaker    -1.693         0.919          1.724          0              0              0              59
  47  ButterKnife     -0.334         0.925          4.944          0              0              0              62
  48  DishSponge      -0.334         0.924          5.932          0              0              0              62
  49  Spoon           -3.852         0.924          5.182          0              90             0              77
  50  Mug             -3.613         0.918          5.259          0              90             0              77
  51  Cabinet         -3.203         1.931          1.777          0              0              0
  52  Cabinet         -3.187         0.390          2.089          0              0              0
  53  Cabinet         -0.637         0.387          6.882          0              180            0
  54  Drawer          -3.797         0.781          1.961          0              0              0
  55  Cabinet         -3.036         0.387          5.029          0              90             0
  56  Drawer          -0.509         0.775          5.268          0              270            0
  57  Drawer          -4.125         0.798          2.499          0              0              0
  58  Cabinet         -0.331         2.249          4.308          0              180            0
  59  CounterTop      -1.872         0.958          1.799          0              0              0
  60  StoveBurner     -2.924         0.924          2.012          0              0              0
  61  Cabinet         -0.331         2.249          6.806          0              180            0
  62  CounterTop      -0.345         0.960          5.603          0              0              0
  63  Cabinet         -3.039         1.935          5.321          0              90             0
  64  Cabinet         -3.922         0.397          2.088          0              0              0
  65  StoveBurner     -2.467         0.924          2.012          0              0              0
  66  Cabinet         -0.331         2.249          5.505          0              180            0
  67  Drawer          -0.509         0.775          4.617          0              270            0
  68  Drawer          -3.509         0.777          5.157          0              180            0
  69  Cabinet         -3.961         0.388          2.878          0              0              0
  70  Cabinet         -3.961         0.388          4.342          0              0              0
  71  Cabinet         -0.637         0.387          5.582          0              180            0
  72  Cabinet         -0.637         0.388          4.299          0              180            0
  73  Cabinet         -0.637         0.388          5.599          0              180            0
  74  StoveBurner     -2.924         0.924          1.712          0              180            0
  75  Drawer          -1.859         0.775          1.961          0              0              0
  76  Cabinet         -0.331         2.249          5.609          0              180            0
  77  CounterTop      -4.260         0.958          4.943          0              90             0
  78  Cabinet         -4.284         1.931          2.226          0              0              0
  79  Cabinet         -0.331         2.249          3.010          0              180            0
  80  Drawer          -3.801         0.777          5.157          0              180            0
  81  Cabinet         -4.112         1.935          5.321          0              90             0
  82  Cabinet         -3.968         0.388          3.662          0              0              0
  83  Drawer          -3.418         0.777          1.961          0              0              0
  84  Drawer          -4.090         0.777          4.661          0              90             0
  85  Faucet          -4.441         0.909          3.288          270            0              0
  86  Cabinet         -0.331         2.249          4.207          0              180            0
  87  Cabinet         -3.961         0.388          2.119          0              0              0
  88  Drawer          -0.509         0.775          5.920          0              270            0
  89  Drawer          -3.193         0.777          5.157          0              180            0
  90  Cabinet         -3.968         0.388          2.894          0              0              0
  91  Cabinet         -3.667         0.387          5.029          0              90             0
  92  StoveBurner     -2.469         0.924          1.712          0              270            0
  93  Cabinet         -1.539         0.388          2.090          0              0              0
  94  Sink            -4.190         0.921          3.279          0              0              0
  95  Cabinet         -3.641         0.387          5.029          0              90             0
  96  Cabinet         -1.583         1.931          1.777          0              0              0
  97  Drawer          -0.509         0.775          6.568          0              270            0
  98  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  99  StoveKnob       -2.347         1.095          1.560          288.012        180            180
 100  StoveKnob       -2.788         1.095          1.560          288.012        180            180
 101  StoveKnob       -2.965         1.095          1.560          288.012        180            180
 102  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 103  GarbageCan      -3.711         -0.030         6.376          0              270            0
 104  Toaster         -3.578         0.912          1.763          0              0              0
 105  Curtains        -4.522         2.252          3.391          90             90             0
 106  Window          -4.868         1.629          3.309          90             270            0
 107  Microwave       -2.693         1.430          1.689          0              0              0
 108  LightSwitch     -1.588         1.169          1.506          0              0              0
 109  SinkBasin       -4.196         0.780          3.276          0              270            0
 110  Fridge          -0.324         -0.001         3.602          0              0              0
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: turn and walk to the kitchen counter next to the fridge | STEP 2: grab a black cup off of the kitchen counter | STEP 3: turn and walk over to the stove | STEP 4: place the black cup in the microwave above the stove, microwave it and take it back out | STEP 5: turn and walk to the kitchen counter to the left of the stove | STEP 6: place the black cup on the kitchen counter | END