Task: Microwave a cup and put it in the coffee maker

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.914          2.25           0              270            0
   1  Potato          -1.127         0.923          0.049          0              90             0              78
   2  Potato          -1.921         0.821          3.774          0              0              0              72
   3  DishSponge      -3.081         0.915          1.357          0              0              0              51
   4  ButterKnife     -3.559         0.915          3.827          0              0              0              42
   5  WineBottle      -1.161         0.087          3.852          0              270            0              74
   6  Kettle          -1.127         0.892          0.461          0              180            0              78
   7  Fork            -1.449         0.916          4.106          0              90             0              42
   8  Fork            -0.994         0.892          0.152          0              90             0              78
   9  Pot             -3.424         0.966          1.971          0              0              0              50
  10  Cup             -1.660         0.080          3.547          0              0              0              47
  11  Cup             -3.537         1.546          2.016          0              90             0              73
  12  Plate           -2.410         0.084          3.625          0              0              0              53
  13  Tomato          -0.994         0.965          -0.053         0              90             0              78
  14  SoapBottle      -3.073         0.083          1.122          0              0              0              61
  15  SaltShaker      -3.368         0.912          1.273          0              0              0              51
  16  Mug             -1.666         0.784          3.662          0              0              0              72
  17  Mug             -3.426         0.945          3.275          0              90             0              42
  18  Apple           -0.556         1.046          3.926          0              180            0              68
  19  Egg             -3.272         0.950          1.106          0              0              0              51
  20  Knife           -3.272         0.939          1.440          0              270            0              51
  21  Fork            -3.185         0.747          3.027          0              270            0              44
  22  Bread           -3.272         0.996          3.663          0              0              0              42
  23  Potato          -3.654         0.948          1.524          0              0              0              51
  24  Plate           -3.006         0.904          3.672          0              0              0              42
  25  Pot             -3.424         0.966          2.374          0              0              0              48
  26  Kettle          -3.148         0.966          2.374          0              0              0              45
  27  WineBottle      -1.256         0.088          3.756          0              270            0              74
  28  Bowl            -1.655         0.890          0.564          0              90             0              78
  29  Tomato          -3.368         0.984          1.106          0              0              0              51
  30  Cup             -1.259         0.891          0.255          0              90             0              78
  31  Spatula         -3.068         0.761          2.972          0              270            0              44
  32  SoapBottle      -3.540         1.459          1.605          0              0              0              60
  33  Lettuce         -1.391         0.977          0.461          0              90             0              78
  34  Pan             -1.391         0.891          0.049          0              90             0              78
  35  Apple           -3.654         0.975          1.189          0              0              0              51
  36  SaltShaker      -1.259         0.887          0.152          0              90             0              78
  37  PepperShaker    -1.523         0.887          0.255          0              90             0              78
  38  ButterKnife     -2.804         0.903          3.783          0              0              0              42
  39  DishSponge      -1.815         0.915          4.146          0              0              0              42
  40  Spoon           -1.787         0.892          0.049          0              90             0              78
  41  Mug             -0.323         0.981          3.801          0              90             0              68
  42  CounterTop      -3.381         0.950          3.335          0              0              0
  43  Drawer          -3.121         0.775          1.357          0              0              0
  44  Drawer          -3.121         0.777          2.916          0              0              0
  45  StoveBurner     -3.148         0.958          2.374          0              0              0
  46  Sink            -1.797         0.917          3.660          0              0              0
  47  Cabinet         -1.421         0.388          3.459          0              0              0
  48  StoveBurner     -3.424         0.958          2.374          0              0              0
  49  Cabinet         -3.365         1.931          2.676          0              0              0
  50  StoveBurner     -3.424         0.958          1.971          0              0              0
  51  CounterTop      -3.381         0.951          1.356          0              0              0
  52  Drawer          -3.121         0.781          3.295          0              0              0
  53  Cabinet         -2.205         0.388          3.459          0              0              0
  54  Cabinet         -2.963         0.388          3.459          0              0              0
  55  Cabinet         -2.992         0.388          2.683          0              0              0
  56  Cabinet         -3.352         2.205          1.715          0              0              0
  57  Cabinet         -3.352         2.205          2.653          0              0              0
  58  Cabinet         -2.189         0.388          3.466          0              0              0
  59  Cabinet         -3.365         1.931          3.963          0              0              0
  60  Cabinet         -3.365         1.931          1.056          0              0              0
  61  Cabinet         -2.992         0.388          1.037          0              0              0
  62  StoveBurner     -3.143         0.958          1.971          0              0              0
  63  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  64  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  65  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  66  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  67  Toaster         -2.654         0.902          4.064          0              180            0
  68  Fridge          -0.439         0.014          3.996          0              0              0
  69  LightSwitch     0.25           1.383          2.085          0              270            0
  70  Window          -1.430         1.338          -0.347         90             0              0
  71  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  72  SinkBasin       -1.802         0.778          3.700          0              0              0
  73  Microwave       -3.484         1.430          2.182          0              90             0
  74  GarbageCan      -1.184         -0.020         3.794          0              270            0
  75  Blinds          -1.404         2.092          -0.296         0              0              0
  76  Stool           -1.373         0.014          1.048          1.214          20.754         0
  77  Faucet          -1.788         0.903          3.931          270            90             0
  78  DiningTable     -1.399         0.010          0.238          0              0              0
  79  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Take a step to your right and turn to face left | STEP 2: Pick up a mug from the coffee maker | STEP 3: Move to your left and turn left to face the microwave | STEP 4: Cook the mug in the microwave for a few seconds and then take it out | STEP 5: Move a step to your right and turn to face the kitchen counter | STEP 6: Put the mug back down in the coffee maker | END