Task: Heat a cup and place it on a countertop

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.908          3.0            0              0              0
   1  Pan             -1.320         1.636          0.984          0              180            0              98
   2  SprayBottle     -1.388         1.655          -0.204         0              0              0              66
   3  Potato          0.103          0.803          -0.573         0              0              0              105
   4  Potato          -1.383         0.793          2.459          0              0              0              59
   5  CellPhone       -1.135         0.909          -0.477         0              0              0              84
   6  CellPhone       -1.475         0.747          3.015          0              0              0              59
   7  DishSponge      -1.105         0.748          2.644          0              0              0              59
   8  DishSponge      -1.105         0.749          2.830          0              0              0              59
   9  ButterKnife     -1.290         0.749          2.273          0              0              0              59
  10  Glassbottle     -0.658         0.912          -0.669         0              0              0              84
  11  Glassbottle     -1.290         0.750          2.830          0              0              0              59
  12  WineBottle      -1.383         0.750          2.644          0              0              0              59
  13  WineBottle      -1.197         0.749          2.273          0              0              0              59
  14  Kettle          1.327          1.661          0.253          0              0              0              60
  15  Kettle          1.286          0.912          0.139          0              0              0              78
  16  Fork            1.200          0.886          2.369          0              0              0              110
  17  Egg             -1.225         0.375          1.092          0              90             0              98
  18  Egg             1.286          0.945          0.706          0              0              0              78
  19  Cup             -1.378         1.420          0.987          0              90             0              98
  20  Cup             -0.919         0.748          1.902          0              0              0              59
  21  Plate           -1.012         0.749          2.087          0              0              0              59
  22  Plate           -1.105         0.749          2.459          0              0              0              59
  23  Knife           1.034          0.908          2.153          0              180            0              110
  24  Knife           1.286          0.933          -0.144         0              180            0              78
  25  Tomato          -1.197         0.799          1.902          0              0              0              59
  26  SoapBottle      1.245          0.087          1.440          0              0              0              99
  27  SoapBottle      1.128          0.912          0.706          0              0              0              78
  28  SaltShaker      1.356          1.652          -0.572         0              0              0              60
  29  SaltShaker      1.367          0.882          2.369          0              0              0              110
  30  PepperShaker    1.324          2.150          0.913          0              0              0              68
  31  Mug             -1.263         1.416          1.197          0              90             0              98
  32  Mug             1.215          0.943          -0.633         0              320.314        0              97
  33  Bread           1.027          0.935          2.680          0              2.877          1.471          110
  34  Glassbottle     -1.099         0.342          1.092          0              90             0              98
  35  Fork            -0.020         0.762          -0.651         0              90             0              105
  36  Kettle          0.802          0.939          -0.740         0              90             0              87
  37  Tomato          -0.144         0.808          -0.612         0              0              0              105
  38  Plate           -1.263         0.752          0.778          0              90             0              98
  39  CellPhone       -1.012         0.747          2.273          0              0              0              59
  40  Lettuce         -0.919         0.820          3.015          0              0              0              59
  41  Pot             0.510          0.936          -0.491         0              0              0              91
  42  SoapBottle      0.209          0.117          -0.577         0              0              0              73
  43  WineBottle      -1.197         0.750          3.015          0              0              0              59
  44  Spatula         -1.290         0.763          2.459          0              90             0              59
  45  Bowl            1.325          2.155          0.599          0              0              0              69
  46  Apple           -1.263         0.811          1.092          0              90             0              98
  47  Cup             1.444          0.910          0.422          0              0              0              78
  48  Knife           1.285          0.881          2.661          270            355.883        0              110
  49  Egg             1.444          0.945          -0.428         0              0              0              78
  50  SaltShaker      0.951          0.882          2.261          0              0              0              110
  51  PepperShaker    -1.475         0.745          2.830          0              0              0              59
  52  Potato          1.450          0.931          2.477          0              0              0              110
  53  ButterKnife     1.365          0.911          0.706          0              0              0              78
  54  DishSponge      -1.362         0.911          -0.392         0              0              0              84
  55  Pan             -1.332         0.9            -0.699         0              345.0          0              84
  56  Spoon           -1.156         0.777          -0.136         0              270            0              82
  57  SprayBottle     1.049          0.910          -0.144         0              0              0              78
  58  Mug             -1.130         0.336          0.883          0              90             0              98
  59  DiningTable     -1.182         0.006          2.414          0              90             0
  60  Cabinet         1.184          2.059          0.375          0              0              0
  61  Cabinet         1.184          2.059          -0.635         0              0              0
  62  Cabinet         0.591          2.309          -0.645         0              0              0
  63  Cabinet         -0.574         2.059          -0.644         0              0              0
  64  Cabinet         -1.103         2.059          -0.644         0              0              0
  65  Cabinet         -1.185         2.059          -0.331         0              0              0
  66  Cabinet         -1.185         2.059          -0.281         0              0              0
  67  Cabinet         -1.185         2.059          0.375          0              0              0
  68  Cabinet         1.184          2.309          1.174          0              0              0
  69  Cabinet         1.184          2.309          0.424          0              0              0
  70  Cabinet         0.988          0.402          0.581          0              0              0
  71  Cabinet         0.988          0.402          0.531          0              0              0
  72  Cabinet         0.988          0.402          -0.178         0              0              0
  73  Cabinet         0.335          0.402          -0.348         0              0              0
  74  Cabinet         -0.374         0.402          -0.348         0              0              0
  75  Cabinet         0.988          0.402          1.231          0              0              0
  76  Cabinet         -1.185         2.309          1.374          0              0              0
  77  Cabinet         -1.185         2.309          0.424          0              0              0
  78  CounterTop      1.274          0.947          0.064          0              0              0
  79  Drawer          1.116          0.792          -0.015         0              0              0
  80  Drawer          -1.116         0.792          0.210          0              180            0
  81  Cabinet         -0.990         0.402          0.374          0              180            0
  82  Drawer          -1.116         0.792          -0.170         0              180            0
  83  Cabinet         -0.990         0.402          -0.335         0              180            0
  84  CounterTop      -1.001         0.947          -0.669         0              0              0
  85  StoveBurner     0.502          0.932          -0.740         0              90             0
  86  StoveBurner     0.801          0.932          -0.473         0              0              0
  87  StoveBurner     0.801          0.932          -0.740         0              90             0
  88  Drawer          1.116          0.792          1.081          0              0              0
  89  Sink            -0.013         0.912          -0.615         0              0              0
  90  Drawer          1.116          0.792          0.732          0              0              0
  91  StoveBurner     0.502          0.932          -0.469         0              0              0
  92  Drawer          1.116          0.792          0.367          0              0              0
  93  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  94  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  95  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  96  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  97  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  98  Fridge          -1.300         0.008          0.987          0              90             0
  99  GarbageCan      1.296          -0.024         1.465          0              0              0
 100  Window          -0.012         1.641          -0.972         90             0              0
 101  Window          1.598          1.646          2.489          90             270            0
 102  Toaster         1.356          0.900          1.044          0              270            0
 103  LightSwitch     0.118          1.353          3.799          0              180            0
 104  Microwave       -1.343         0.900          0.053          0              90             0
 105  SinkBasin       -0.029         0.748          -0.612         0              0              0
 106  Faucet          -0.026         0.927          -0.808         0              0              0
 107  Shelf           -1.182         0.127          2.414          0              90             0
 108  Stool           1.140          0.007          3.262          1.206          20.753         0
 109  Shelf           -1.182         0.435          2.414          0              90             0
 110  DiningTable     1.169          0.014          2.569          0              0              1.896
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: Go to the counter right of the toaster | STEP 2: Pick up a cup from the counter | STEP 3: Go to the microwave | STEP 4: Heat the cup | STEP 5: Turn to the counter | STEP 6: Place the cup down on the counter  | END