Task: To gather two orange cups as well as place them in the microwave.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.901          2.25           0              90             0
   1  Potato          -2.867         0.080          0.436          0              26.101         0              78
   2  Potato          -0.228         0.926          3.133          0              0              0              77
   3  DishSponge      -1.824         0.661          0.409          0              0              0              57
   4  Spatula         -2.037         0.943          0.602          0              0              0              54
   5  Fork            -2.892         0.901          2.309          0              0              0              75
   6  Pot             -0.535         0.928          4.274          0              0              0              58
   7  Cup             -0.657         0.900          2.329          0              0              0              77
   8  Cup             -2.995         0.900          2.441          0              0              0              75
   9  Plate           -2.738         0.303          4.501          0              90             0              71
  10  Plate           -0.802         1.777          0.160          0              0              0              52
  11  Knife           -2.377         0.688          0.464          0              270            0              62
  12  Knife           -0.486         0.926          2.530          0              0              0              77
  13  SoapBottle      -2.480         0.900          2.573          0              0              0              75
  14  Tomato          -2.764         1.250          4.352          0              90             0              71
  15  Tomato          -2.748         0.117          0.420          0              26.101         0              68
  16  SaltShaker      -2.583         0.896          2.706          0              0              0              75
  17  SaltShaker      -2.431         0.658          0.300          0              0              0              62
  18  PepperShaker    -2.628         0.931          3.209          0              0              0              61
  19  PepperShaker    -0.359         1.769          0.205          0              0              0              52
  20  Mug             -0.228         0.895          3.334          0              0              0              77
  21  Apple           -0.191         1.074          0.140          0              0              0              73
  22  Egg             -2.847         1.219          4.278          0              90             0              71
  23  Plate           -1.770         0.932          0.433          0              0              0              54
  24  Fork            -1.986         0.662          0.519          0              270            0              57
  25  Bread           -2.954         0.942          1.984          0              355.360        0              75
  26  Apple           -2.549         0.991          3.488          0              0              0              61
  27  Lettuce         -2.170         1.007          0.433          0              0              0              54
  28  Spatula         -2.377         0.915          2.309          0              0              0              75
  29  Knife           -2.684         0.896          1.879          270            356.091        0              75
  30  Potato          -2.722         1.212          4.501          0              90             0              71
  31  Tomato          -2.864         0.999          3.302          0              0              0              61
  32  Cup             -2.847         0.632          4.278          0              90             0              71
  33  SaltShaker      -2.303         0.924          0.602          0              0              0              54
  34  PepperShaker    -0.380         0.658          0.409          0              0              0              43
  35  ButterKnife     -2.892         0.900          2.573          0              0              0              75
  36  SoapBottle      -1.636         1.773          0.114          0              0              0              49
  37  Pan             -0.250         0.926          4.651          0              0              0              56
  38  DishSponge      -0.143         0.900          3.133          0              0              0              77
  39  Pot             -0.228         0.900          2.932          0              90             0              77
  40  Spoon           -0.272         0.663          0.355          0              0              0              43
  41  Mug             -0.657         0.895          3.334          0              0              0              77
  42  Bowl            -0.228         0.897          2.329          0              0              0              77
  43  Drawer          -0.325         0.696          0.413          0              0              0
  44  Cabinet         -0.595         0.490          0.648          0              0              0
  45  Cabinet         -0.555         0.490          0.646          0              0              0
  46  Cabinet         -1.591         0.490          0.646          0              0              0
  47  Cabinet         -1.554         0.490          0.646          0              0              0
  48  Cabinet         -2.550         0.490          0.646          0              0              0
  49  Cabinet         -1.514         2.046          0.392          0              0              0
  50  Cabinet         -2.474         2.046          0.392          0              0              0
  51  Cabinet         -1.478         2.046          0.392          0              0              0
  52  Cabinet         -0.518         2.046          0.392          0              0              0
  53  Cabinet         -0.479         2.046          0.392          0              0              0
  54  CounterTop      -1.366         0.952          0.349          0              0              0
  55  Sink            -1.108         0.926          0.340          0              0              0
  56  StoveBurner     -0.254         0.922          4.672          0              0              0
  57  Drawer          -1.824         0.696          0.413          0              0              0
  58  StoveBurner     -0.535         0.922          4.274          0              0              0
  59  StoveBurner     -0.254         0.922          4.274          0              0              0
  60  StoveBurner     -0.536         0.922          4.672          0              0              0
  61  CounterTop      -2.780         0.971          3.487          0              0              0
  62  Drawer          -2.323         0.696          0.413          0              0              0
  63  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  66  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  67  Toaster         -0.286         0.861          3.520          0              270            0
  68  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  69  LightSwitch     -0.064         1.447          1.996          0              270            0
  70  Window          -3.075         1.593          1.361          90             90             0
  71  Fridge          -2.802         0.0            4.427          0              0              0
  72  SinkBasin       -1.106         0.785          0.337          0              0              0
  73  Microwave       -0.358         0.917          0.224          0              0              0
  74  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  75  DiningTable     -2.733         -0.003         2.607          0              270            0
  76  Faucet          -1.077         0.920          0.028          270            270            0
  77  DiningTable     -0.488         -0.003         3.182          0              270            0
  78
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Look down to face the table. | STEP 2: Pick up the orange cup on the table. | STEP 3: Turn right and walk across the room to face the microwave. | STEP 4: Place the orange cup in the microwave and shut the door. | STEP 5: Turn right and walk across the room to the right to face the table. | STEP 6: Pick up the orange cup on the table. | STEP 7: Turn left and walk across the room to the left to face the microwave. | STEP 8: Place the orange cup in the microwave with the other orange cup. | END