Task: warm a cup in the microwave then put it in the cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            1.124          1.75           0              180            0
   1  Pan             0.970          1.524          1.724          0              0              0              67
   2  DishSponge      0.983          0.459          1.090          0              0              0              81
   3  Kettle          -0.749         1.332          -2.973         0              0              0              57
   4  Fork            -1.401         1.323          -3.241         0              0              0              54
   5  Fork            0.813          0.954          0.983          0              90             0              77
   6  Spoon           -2.049         1.324          0.445          0              0              0              54
   7  Spatula         0.896          1.337          -2.053         0              0              0              54
   8  Pot             -1.826         1.339          -1.186         0              0              0              61
   9  Pot             -0.630         1.331          -3.301         0              180            0              51
  10  Cup             0.492          1.320          -3.011         0              0              0              54
  11  Plate           -1.749         0.344          0.613          0              0              0              52
  12  Plate           0.349          1.323          -2.789         0              0              0              54
  13  SoapBottle      -1.681         0.344          0.412          0              0              0              52
  14  SoapBottle      -1.381         1.323          -1.035         0              0              0              54
  15  Tomato          -1.657         0.314          2.110          0              270            0              69
  16  Tomato          -1.826         1.084          -0.633         0              0              0              72
  17  SaltShaker      0.277          1.318          -3.232         0              0              0              54
  18  PepperShaker    0.778          1.202          1.254          0              0              0              79
  19  PepperShaker    -1.603         0.417          -0.233         0              0              0              58
  20  Bread           -1.660         1.397          -1.941         0              0              0              54
  21  Lettuce         -1.165         1.399          -3.314         0              0              0              54
  22  Lettuce         0.896          1.399          -2.424         0              0              0              54
  23  Mug             -1.954         1.046          -0.587         0              0              0              72
  24  Mug             0.928          2.023          2.111          0              270            0              67
  25  Apple           1.056          1.724          1.722          0              270            0              67
  26  Bread           -1.451         1.397          -2.870         0              0              0              54
  27  Pot             -0.239         1.331          -3.301         0              180            0              49
  28  Knife           1.025          1.352          -2.424         0              0              0              54
  29  Bowl            -2.179         1.321          1.419          0              0              0              54
  30  Potato          -1.826         1.103          -0.496         0              0              0              72
  31  SoapBottle      1.285          1.323          -2.053         0              0              0              54
  32  Fork            0.563          1.323          -2.789         0              0              0              54
  33  Cup             0.766          1.320          -2.794         0              0              0              54
  34  Kettle          -1.691         1.310          -3.156         0              150.000        0              54
  35  Egg             0.861          1.248          1.238          0              0              0              79
  36  Pan             -1.881         0.327          -2.035         0              0              0              50
  37  SaltShaker      -1.954         0.338          1.523          0              0              0              55
  38  WineBottle      0.636          1.323          -2.424         0              0              0              54
  39  Lettuce         -1.530         1.399          1.419          0              0              0              54
  40  Spatula         -1.826         1.343          -0.911         0              0              0              61
  41  PaperTowelRoll  0.766          1.427          -2.424         0              0              0              54
  42  Tomato          -2.049         1.356          0.770          0              0              0              54
  43  Plate           0.976          0.345          -2.267         0              180            0              53
  44  PepperShaker    1.110          1.202          1.238          0              0              0              79
  45  DishSponge      -1.682         0.343          1.007          0              0              0              55
  46  Spoon           1.065          0.741          1.054          0              270            0              78
  47  Apple           1.148          1.359          0.965          0              270            0              79
  48  Mug             -2.049         1.318          1.744          0              0              0              54
  49  StoveBurner     -0.239         1.325          -3.301         0              180            0
  50  Cabinet         -1.461         0.775          -2.002         0              0              0
  51  StoveBurner     -0.630         1.325          -3.301         0              180            0
  52  Cabinet         -1.461         0.775          0.470          0              0              0
  53  Cabinet         0.578          0.776          -2.054         0              0              0
  54  CounterTop      -1.809         1.358          1.182          0              0              0
  55  Cabinet         -1.461         0.775          1.310          0              0              0
  56  Faucet          -2.063         1.362          -0.726         0              39.391         0
  57  StoveBurner     -0.749         1.325          -2.973         0              0              0
  58  Drawer          -1.610         0.681          -0.430         0              0              0
  59  Window          -2.566         1.799          -0.822         270            0              0
  60  Drawer          -1.610         0.681          -1.217         0              0              0
  61  Sink            -1.990         1.143          -0.975         0              0              0
  62  StoveBurner     -0.125         1.325          -2.973         0              0              0
  63  StoveKnob       -0.185         1.338          -2.741         0              270            180
  64  StoveKnob       -0.336         1.338          -2.741         0              270            180
  65  StoveKnob       -0.569         1.338          -2.741         0              270            180
  66  StoveKnob       -0.707         1.338          -2.741         0              270            180
  67  Fridge          1.013          0.227          1.917          0              270            0
  68  Microwave       0.994          1.310          -2.163         0              270            0
  69  GarbageCan      -1.633         0.212          2.192          0              270            0
  70  LightSwitch     1.386          1.565          -0.657         0              270            0
  71  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  72  SinkBasin       -1.835         1.039          -0.542         0              0              0
  73  ButterKnife     0.873          0.468          0.651          0              0              0
  74  Toaster         -1.885         1.310          -2.512         0              90             0
  75  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  76  Drawer          0.647          1.061          0.680          0              270            0
  77  Drawer          0.648          1.061          1.020          0              270            0
  78  Drawer          0.648          0.843          1.020          0              270            0
  79  SideTable       0.975          0.220          0.869          0              270            0
  80  Drawer          0.648          0.602          0.680          0              270            0
  81  Drawer          0.648          0.596          1.020          0              270            0
  82  Drawer          0.648          0.843          0.680          0              270            0
  83  Stool           0.606          0.222          -1.084         1.233          280.489        0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: go to the table | STEP 2: pick up the green cup from the table | STEP 3: take the cup to the microwave | STEP 4: put the cup in the microwave then take back out | STEP 5: take the cup to the right side of the sink | STEP 6: put the cup in the cabinet below the cabinet to the right of the sink | END