Task: heat the cup from the cabinet in the microwave, put the cup under the coffee machine

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.900          -0.75          0              180            0
   1  ButterKnife     0.701          0.919          -1.715         0              270            0              51
   2  Pot             1.007          0.962          0.561          0              270            0              55
   3  Fork            -2.477         0.952          0.345          0              90             0              86
   4  Spoon           0.167          0.913          0.375          0              0              0              52
   5  Spatula         -1.928         0.967          0.524          0              180            0              86
   6  Spatula         1.535          0.907          -1.489         0              0              0              53
   7  Egg             -2.203         0.987          0.165          0              90             0              86
   8  Egg             -0.296         0.105          0.655          0              90             0              82
   9  Cup             -2.135         0.509          -1.849         0              0              0              83
  10  SoapBottle      -0.267         0.910          -1.737         0              0              0              53
  11  SoapBottle      0.753          0.918          -1.582         0              270            0              51
  12  Tomato          -0.394         0.119          0.439          0              90             0              82
  13  Tomato          0.432          0.961          0.209          0              0              0              52
  14  Bowl            1.830          0.107          0.311          0              0              0              61
  15  Bowl            1.658          0.911          -1.737         0              0              0              53
  16  PepperShaker    -0.634         0.107          -1.434         0              0              0              67
  17  PepperShaker    1.663          0.908          0.706          0              0              0              68
  18  Bread           -0.096         0.995          0.458          0              0              0              52
  19  Bread           1.846          0.995          0.375          0              0              0              68
  20  Lettuce         -1.791         1.042          0.255          0              90             0              86
  21  Lettuce         -2.065         1.042          0.345          0              90             0              86
  22  Mug             -0.443         0.105          -1.508         0              0              0              67
  23  Apple           0.341          0.850          -1.648         0              270            0              76
  24  Bread           1.305          0.978          -1.530         0              0              0              53
  25  Knife           -2.065         0.977          0.435          0              180            0              86
  26  Fork            1.781          0.912          -1.820         0              90             0              53
  27  Bowl            -0.923         1.014          -1.737         0              0              0              75
  28  Kettle          0.271          0.109          -1.547         0              180            0              50
  29  Cup             0.908          0.917          -1.449         0              270            0              51
  30  Tomato          -2.31          1.100          -1.677         0              0              0              83
  31  SoapBottle      -2.340         0.950          0.255          0              90             0              86
  32  Plate           1.535          1.329          -1.809         0              180            0              69
  33  Pot             1.361          0.962          0.561          0              270            0              58
  34  Spatula         0.167          0.927          0.623          0              0              0              52
  35  PaperTowelRoll  -0.296         0.174          0.396          0              180            0              82
  36  Egg             -2.614         0.987          0.524          0              90             0              86
  37  Lettuce         -1.791         1.042          0.614          0              90             0              86
  38  SaltShaker      0.680          0.106          0.270          0              0              0              64
  39  PepperShaker    0.167          0.908          0.209          0              0              0              52
  40  Apple           -2.397         0.578          -1.806         0              0              0              83
  41  ButterKnife     -2.065         0.952          0.614          0              90             0              86
  42  Potato          -2.614         0.982          0.345          0              90             0              86
  43  Pan             1.022          0.959          0.288          0              219.190        0              65
  44  DishSponge      -0.196         0.772          -1.505         0              0              0              56
  45  Spoon           0.804          0.920          -1.649         0              0              0              51
  46  Mug             1.724          0.907          0.209          0              0              0              68
  47  Cabinet         -0.193         1.688          -1.648         0              180            0
  48  StoveBurner     1.360          0.957          0.293          0              180            0
  49  Drawer          0.499          0.792          0.296          0              0              0
  50  Cabinet         0.095          0.400          -1.352         0              180            0
  51  Sink            0.711          0.817          -1.772         0              270            0
  52  CounterTop      0.280          0.947          0.458          0              0              0
  53  CounterTop      -0.680         0.947          -1.654         0              0              0
  54  Drawer          1.825          0.792          0.296          0              0              0
  55  StoveBurner     1.007          0.957          0.561          0              270            0
  56  Drawer          -0.150         0.792          -1.496         0              0              0
  57  Drawer          -0.586         0.792          -1.496         0              0              0
  58  StoveBurner     1.360          0.957          0.561          0              270            0
  59  Drawer          0.024          0.792          0.296          0              0              0
  60  Cabinet         1.079          0.400          -1.349         0              180            0
  61  Cabinet         1.669          0.402          0.151          0              0              0
  62  Cabinet         0.055          0.402          -1.351         0              0              0
  63  Cabinet         -0.180         0.402          0.151          0              0              0
  64  Cabinet         0.729          0.402          0.151          0              0              0
  65  StoveBurner     1.007          0.957          0.293          0              180            0
  66  Drawer          -1.100         0.792          -1.496         0              0              0
  67  Cabinet         -0.396         0.402          -1.351         0              0              0
  68  CounterTop      1.776          0.947          0.458          0              0              0
  69  Cabinet         1.974          1.688          -1.648         0              180            0
  70  Cabinet         -0.820         0.400          -1.349         0              180            0
  71  Toaster         0.305          0.900          0.552          0              180            0
  72  LightSwitch     -2.756         1.307          -0.987         0              90             0
  73  Window          0.582          1.613          -1.967         90             0              0
  74  Window          1.969          1.5            -0.615         90             270            0
  75  Microwave       -1.037         0.900          -1.723         0              0              0
  76  SinkBasin       0.377          0.765          -1.655         0              270            0
  77  CoffeeMachine   0.618          0.900          0.600          0              180            0
  78  StoveKnob       1.246          0.913          0.118          45             180            0
  79  StoveKnob       1.373          0.913          0.118          45             180            0
  80  StoveKnob       0.995          0.913          0.118          45             180            0
  81  StoveKnob       1.126          0.913          0.118          45             180            0
  82  GarbageCan      -0.368         -0.029         0.539          0              90             0
  83  Fridge          -2.134         0.0            -1.690         0              0              0
  84  Faucet          0.549          1.046          -1.833         0              232.527        0
  85  Stool           -1.475         0.000          0.414          1.233          280.375        0
  86  DiningTable     -2.255         -0.004         0.432          0              0              0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: turn left, walk to the left side of the microwave | STEP 2: open the cabinet under the microwave, take the cup out of it, close the cabinet | STEP 3: walk to the right a little | STEP 4: open the microwave, heat the cup with it, take the cup | STEP 5: turn around to the coffee machine | STEP 6: put the cup under the coffee machine on the counter | END