Task: Fill a cup with water and put it 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           1.0            0.900          1.5            0              270            0
   1  ButterKnife     -2.621         0.910          0.331          0              0              0              76
   2  Kettle          1.412          0.929          -0.335         0              0              0              49
   3  Spoon           -2.379         0.775          1.322          0              90             0              79
   4  Spatula         -2.318         0.789          0.022          0              270            0              66
   5  Spatula         -2.227         0.789          0.022          0              270            0              66
   6  Egg             1.512          0.941          0.435          0              0              0              57
   7  Cup             -2.521         1.535          0.846          0              0              0              72
   8  Plate           -2.485         1.302          -0.696         0              90             0              80
   9  Plate           -0.341         0.913          1.317          0              0              0              48
  10  Tomato          -2.420         0.637          -0.962         0              90             0              80
  11  Tomato          1.684          0.953          0.376          0              0              0              57
  12  SoapBottle      1.604          0.187          0.706          0              0              0              87
  13  SoapBottle      1.595          0.912          -0.843         0              45             0              58
  14  Bowl            -2.420         0.591          -0.603         0              90             0              80
  15  PepperShaker    -2.704         0.905          0.331          0              0              0              76
  16  PepperShaker    -2.384         0.109          0.437          0              0              0              73
  17  SaltShaker      -2.685         1.532          0.125          0              0              0              71
  18  SaltShaker      -2.313         0.109          0.541          0              0              0              73
  19  Lettuce         -2.372         0.994          1.230          0              0              0              76
  20  Bread           -0.730         0.996          0.870          0              0              0              48
  21  Bread           -2.372         0.996          1.530          0              0              0              76
  22  Mug             -2.439         1.084          -0.979         0              90             0              80
  23  Mug             0.048          0.905          0.647          0              0              0              48
  24  Apple           -2.603         1.077          2.481          0              90             0              88
  25  Pan             0.0            0.9            0.948          0              29.999         0              48
  26  Knife           -0.341         0.936          1.764          0              0              0              48
  27  Apple           1.729          0.246          0.651          0              0              0              87
  28  Bowl            -0.471         0.908          0.870          0              0              0              48
  29  Fork            -0.341         0.911          0.647          0              0              0              48
  30  Bread           -2.538         0.996          0.631          0              0              0              76
  31  Plate           -0.081         0.913          1.540          0              0              0              48
  32  Egg             -0.601         0.941          0.870          0              0              0              48
  33  Kettle          1.691          0.929          -0.335         0              0              0              56
  34  Potato          -0.471         0.947          1.094          0              0              0              48
  35  SaltShaker      -0.601         0.905          1.094          0              0              0              48
  36  Lettuce         -2.455         0.994          0.931          0              0              0              76
  37  Cup             -2.621         0.908          0.931          0              0              0              76
  38  SoapBottle      -2.277         0.116          1.267          0              0              0              54
  39  Spatula         -2.318         0.789          0.952          0              270            0              53
  40  PaperTowelRoll  -2.206         1.015          0.031          0              0              0              76
  41  ButterKnife     -2.538         0.910          0.931          0              0              0              76
  42  PepperShaker    -2.572         1.928          -1.207         0              0              0              69
  43  DishSponge      0.048          0.910          1.764          0              0              0              48
  44  Pot             1.411          0.929          0.064          0              0              0              77
  45  Spoon           -0.601         0.912          0.423          0              0              0              48
  46  Tomato          -2.439         1.131          -0.507         0              90             0              80
  47  Mug             0.464          0.955          -1.593         0              0              0              58
  48  CounterTop      -0.360         0.946          1.093          0              0              0
  49  StoveBurner     1.412          0.923          -0.335         0              0              0
  50  StoveKnob       1.878          1.093          0.018          287.989        90             0
  51  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  52  Cabinet         -2.446         1.948          2.924          0              0              0
  53  Drawer          -2.276         0.792          0.902          0              0              0
  54  Cabinet         -2.145         0.402          1.578          0              0              0
  55  Cabinet         0.149          2.008          -1.603         0              90             0
  56  StoveBurner     1.691          0.923          -0.335         0              0              0
  57  CounterTop      1.585          0.946          0.405          0              0              0
  58  CounterTop      0.474          0.946          -1.625         0              0              0
  59  StoveBurner     1.691          0.923          0.064          0              0              0
  60  Cabinet         -2.446         1.948          1.687          0              0              0
  61  Cabinet         -2.446         1.948          1.640          0              0              0
  62  Sink            1.381          0.810          -1.271         0              225            0
  63  StoveKnob       1.878          1.093          0.150          287.989        90             0
  64  Cabinet         -2.145         0.402          -0.236         0              0              0
  65  Drawer          -2.276         0.792          0.437          0              0              0
  66  Drawer          -2.276         0.792          -0.027         0              0              0
  67  Cabinet         1.572          2.008          0.474          0              0              0
  68  Cabinet         1.572          2.008          -0.775         0              0              0
  69  Cabinet         -2.445         2.148          -1.275         0              0              0
  70  Cabinet         -2.446         2.148          -0.284         0              0              0
  71  Cabinet         -2.446         1.948          0.355          0              0              0
  72  Cabinet         -2.446         1.948          0.405          0              0              0
  73  Cabinet         -2.145         0.402          0.644          0              0              0
  74  Cabinet         -2.145         0.402          0.695          0              0              0
  75  Cabinet         -2.285         1.968          -1.325         0              180            0
  76  CounterTop      -1.485         0.946          1.319          0              0              0
  77  StoveBurner     1.411          0.923          0.064          0              0              0
  78  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  79  Drawer          -2.276         0.792          1.368          0              0              0
  80  Fridge          -2.475         0.0            -0.782         0              90             0
  81  LightSwitch     -0.929         1.350          -1.950         0              0              0
  82  Toaster         -2.564         0.900          1.876          0              90             0
  83  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  84  Window          1.508          1.534          -1.496         90             135            0
  85  Window          1.973          1.521          1.121          90             90             0
  86  SinkBasin       1.149          0.753          -1.380         0              225            0
  87  GarbageCan      1.646          -0.000         0.679          0              0              0
  88  Microwave       -2.580         0.900          2.440          0              90             0
  89  Stool           0.439          0.010          0.747          0              0              0
  90  Stool           -2.303         0.010          1.839          0              0              0
  91  Faucet          1.235          1.138          -1.473         0              225            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Hang a left around the kitchen island to reach the heads of lettuce on the kitchen counter. | STEP 2: Pick up the black cup next to the heads of lettuce on the countertop. | STEP 3: Make a left around the kitchen island to head to the sink. | STEP 4: Fill the cup with water in the sink. | STEP 5: Walk around the island to the other corner of the room to reach the microwave. | STEP 6: Set the cup with water in the microwave. | END