Task: get the green cup, warm it in the microwave, then put it on the corner of the 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          1.124          0.5            0              270            0
   1  Potato          0.982          1.985          1.788          0              270            0              65
   2  DishSponge      -1.380         1.322          -2.981         0              0              0              52
   3  WineBottle      -1.614         0.344          0.211          0              0              0              50
   4  Fork            -1.660         1.323          0.120          0              0              0              52
   5  Spatula         -1.645         0.435          -1.086         0              270            0              58
   6  Spatula         0.766          1.337          -1.312         0              0              0              52
   7  Pot             -0.239         1.331          -3.301         0              180            0              47
   8  Egg             -1.681         0.321          2.316          0              270            0              67
   9  Cup             0.900          0.342          -1.751         0              180            0              51
  10  Plate           0.976          0.345          -2.164         0              180            0              51
  11  Knife           -1.530         1.352          -2.201         0              0              0              52
  12  Knife           1.285          1.352          -1.312         0              90             0              52
  13  SoapBottle      -1.682         0.344          1.420          0              0              0              53
  14  SoapBottle      -1.546         0.344          0.110          0              180            0              50
  15  Tomato          -1.237         1.356          -3.203         0              0              0              52
  16  Tomato          -1.660         1.356          0.445          0              0              0              52
  17  Bowl            -1.886         0.342          1.523          0              0              0              53
  18  Bowl            0.563          1.321          -2.789         0              0              0              52
  19  SaltShaker      -1.522         1.318          -3.425         0              0              0              52
  20  Bread           -1.401         1.397          1.094          0              0              0              52
  21  Mug             -1.818         0.338          1.110          0              0              0              53
  22  Mug             0.965          1.371          -1.534         0              270            0              73
  23  Apple           -1.634         0.329          2.193          0              270            0              67
  24  Bread           -1.790         1.397          1.094          0              0              0              52
  25  Pot             -0.630         1.331          -3.301         0              180            0              49
  26  Knife           -1.920         1.352          1.419          0              0              0              52
  27  Bowl            0.977          1.755          2.289          0              270            0              65
  28  Potato          -1.530         1.362          0.445          0              0              0              52
  29  SoapBottle      -1.401         1.323          -1.941         0              0              0              52
  30  Fork            -2.049         1.323          2.069          0              0              0              52
  31  Cup             0.944          1.205          1.238          0              0              0              77
  32  Kettle          -1.614         0.344          0.512          0              0              0              50
  33  Egg             1.193          1.248          1.254          0              0              0              77
  34  Pan             -1.881         0.327          -2.035         0              0              0              48
  35  SaltShaker      1.276          1.202          1.222          0              0              0              77
  36  WineBottle      -1.665         0.344          -1.963         0              0              0              48
  37  Lettuce         -1.891         1.397          -1.056         14.952         0              355.878        59
  38  Spatula         -1.561         0.435          -1.086         0              270            0              58
  39  PaperTowelRoll  -1.522         1.427          -2.760         0              0              0              52
  40  Tomato          -1.826         1.097          -0.542         0              0              0              70
  41  Plate           -1.817         0.344          0.211          0              0              0              50
  42  PepperShaker    0.634          1.318          -3.343         0              0              0              52
  43  DishSponge      -1.954         0.343          1.317          0              0              0              53
  44  Spoon           -2.002         1.325          -1.184         1.709          2.774          0              59
  45  Apple           -2.077         1.373          -1.186         0              0              340.013        59
  46  Mug             -1.698         1.046          -0.587         0              0              0              70
  47  StoveBurner     -0.239         1.325          -3.301         0              180            0
  48  Cabinet         -1.461         0.775          -2.002         0              0              0
  49  StoveBurner     -0.630         1.325          -3.301         0              180            0
  50  Cabinet         -1.461         0.775          0.470          0              0              0
  51  Cabinet         0.578          0.776          -2.054         0              0              0
  52  CounterTop      -1.809         1.358          1.182          0              0              0
  53  Cabinet         -1.461         0.775          1.310          0              0              0
  54  Faucet          -2.063         1.362          -0.726         0              39.391         0
  55  StoveBurner     -0.749         1.325          -2.973         0              0              0
  56  Drawer          -1.610         0.681          -0.430         0              0              0
  57  Window          -2.566         1.799          -0.822         270            0              0
  58  Drawer          -1.610         0.681          -1.217         0              0              0
  59  Sink            -1.990         1.143          -0.975         0              0              0
  60  StoveBurner     -0.125         1.325          -2.973         0              0              0
  61  StoveKnob       -0.185         1.338          -2.741         0              270            180
  62  StoveKnob       -0.336         1.338          -2.741         0              270            180
  63  StoveKnob       -0.569         1.338          -2.741         0              270            180
  64  StoveKnob       -0.707         1.338          -2.741         0              270            180
  65  Fridge          1.013          0.227          1.917          0              270            0
  66  Microwave       0.994          1.310          -2.163         0              270            0
  67  GarbageCan      -1.633         0.212          2.192          0              270            0
  68  LightSwitch     1.386          1.565          -0.657         0              270            0
  69  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  70  SinkBasin       -1.835         1.039          -0.542         0              0              0
  71  ButterKnife     0.873          0.468          0.651          0              0              0
  72  Toaster         -1.885         1.310          -2.512         0              90             0
  73  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  74  Drawer          0.647          1.061          0.680          0              270            0
  75  Drawer          0.648          1.061          1.020          0              270            0
  76  Drawer          0.648          0.843          1.020          0              270            0
  77  SideTable       0.975          0.220          0.869          0              270            0
  78  Drawer          0.648          0.602          0.680          0              270            0
  79  Drawer          0.648          0.596          1.020          0              270            0
  80  Drawer          0.648          0.843          0.680          0              270            0
  81  Stool           0.606          0.222          -1.084         1.233          280.489        0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: go to the microwave | STEP 2: pick up the green cup from the counter | STEP 3: approach the microwave with the cup | STEP 4: put the cup in the microwave, warm, then remove | STEP 5: take the cup back to the counter | STEP 6: set the cup on the corner of the counter | END