Task: Pick up cup from sink, warm in microwave, put on counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.908          2.5            0              180            0
   1  SprayBottle     1.365          0.910          -0.144         0              0              0              72
   2  DishSponge      1.128          0.911          0.706          0              0              0              72
   3  DishSponge      1.325          1.655          -0.393         0              0              0              54
   4  ButterKnife     -1.105         0.748          2.087          0              0              0              53
   5  ButterKnife     -1.105         0.748          2.273          0              0              0              53
   6  Glassbottle     -0.170         0.117          -0.621         0              0              0              68
   7  Glassbottle     -1.123         0.912          -0.828         0              0              0              78
   8  Kettle          1.207          0.912          0.139          0              0              0              72
   9  Spoon           1.444          0.912          0.139          0              0              0              72
  10  Spoon           -1.290         0.750          2.644          0              0              0              53
  11  Spatula         -0.503         0.927          -0.430         0              0              0              78
  12  Spatula         1.523          0.926          -0.428         0              90             0              72
  13  Pot             0.502          0.939          -0.469         0              0              0              85
  14  Pot             -1.105         0.749          2.644          0              0              0              53
  15  Egg             -1.296         1.049          -0.057         0              90             0              98
  16  Cup             -1.149         0.750          1.092          0              90             0              92
  17  Cup             1.218          0.116          -0.052         0              0              0              66
  18  Knife           -0.503         0.934          -0.589         0              90             0              78
  19  Knife           1.367          0.908          2.369          0              90             0              104
  20  Tomato          -1.378         0.800          0.883          0              90             0              92
  21  Tomato          -1.149         1.470          1.302          0              90             0              92
  22  SoapBottle      1.286          0.912          0.706          0              0              0              72
  23  SaltShaker      1.306          0.113          0.071          0              0              0              66
  24  Mug             -1.320         1.631          1.188          0              90             0              92
  25  Mug             0.041          0.753          -0.533         0              0              0              99
  26  Apple           1.470          0.146          1.440          0              0              0              93
  27  Bread           1.069          0.935          2.683          0              0              0              104
  28  Glassbottle     1.200          0.887          2.369          0              0              0              104
  29  Fork            1.034          0.886          2.261          0              0              0              104
  30  Kettle          0.802          0.939          -0.740         0              90             0              81
  31  Tomato          -1.286         0.961          -0.477         0              0              0              78
  32  Plate           -1.290         0.750          1.902          0              0              0              53
  33  CellPhone       1.450          0.884          2.261          0              0              0              104
  34  Lettuce         1.238          0.969          -0.16          0              0              0              72
  35  Pot             -0.813         0.912          -0.669         0              0              0              78
  36  SoapBottle      1.117          0.887          2.261          0              0              0              104
  37  WineBottle      0.086          0.117          -0.533         0              0              0              67
  38  Spatula         1.284          0.901          2.369          0              270            0              104
  39  Bowl            -1.012         0.747          1.902          0              0              0              53
  40  Apple           -1.320         1.697          0.781          0              90             0              92
  41  Cup             -0.082         0.757          -0.691         0              0              0              99
  42  Knife           1.286          0.933          0.422          0              180            0              72
  43  Egg             -1.361         1.049          -0.057         0              90             0              98
  44  SaltShaker      1.049          0.907          0.139          0              0              0              72
  45  PepperShaker    -1.105         0.745          2.830          0              0              0              53
  46  Potato          -0.919         0.793          2.830          0              0              0              53
  47  ButterKnife     -1.290         0.748          2.830          0              0              0              53
  48  DishSponge      1.099          0.775          1.050          0              0              0              82
  49  Pan             -1.332         0.9            -0.699         0              345.0          0              78
  50  Spoon           1.207          0.912          -0.428         0              0              0              72
  51  SprayBottle     0.146          0.911          -0.359         0              0              0              78
  52  Mug             1.450          0.881          2.477          0              0              0              104
  53  DiningTable     -1.182         0.006          2.414          0              90             0
  54  Cabinet         1.184          2.059          0.375          0              0              0
  55  Cabinet         1.184          2.059          -0.635         0              0              0
  56  Cabinet         0.591          2.309          -0.645         0              0              0
  57  Cabinet         -0.574         2.059          -0.644         0              0              0
  58  Cabinet         -1.103         2.059          -0.644         0              0              0
  59  Cabinet         -1.185         2.059          -0.331         0              0              0
  60  Cabinet         -1.185         2.059          -0.281         0              0              0
  61  Cabinet         -1.185         2.059          0.375          0              0              0
  62  Cabinet         1.184          2.309          1.174          0              0              0
  63  Cabinet         1.184          2.309          0.424          0              0              0
  64  Cabinet         0.988          0.402          0.581          0              0              0
  65  Cabinet         0.988          0.402          0.531          0              0              0
  66  Cabinet         0.988          0.402          -0.178         0              0              0
  67  Cabinet         0.335          0.402          -0.348         0              0              0
  68  Cabinet         -0.374         0.402          -0.348         0              0              0
  69  Cabinet         0.988          0.402          1.231          0              0              0
  70  Cabinet         -1.185         2.309          1.374          0              0              0
  71  Cabinet         -1.185         2.309          0.424          0              0              0
  72  CounterTop      1.274          0.947          0.064          0              0              0
  73  Drawer          1.116          0.792          -0.015         0              0              0
  74  Drawer          -1.116         0.792          0.210          0              180            0
  75  Cabinet         -0.990         0.402          0.374          0              180            0
  76  Drawer          -1.116         0.792          -0.170         0              180            0
  77  Cabinet         -0.990         0.402          -0.335         0              180            0
  78  CounterTop      -1.001         0.947          -0.669         0              0              0
  79  StoveBurner     0.502          0.932          -0.740         0              90             0
  80  StoveBurner     0.801          0.932          -0.473         0              0              0
  81  StoveBurner     0.801          0.932          -0.740         0              90             0
  82  Drawer          1.116          0.792          1.081          0              0              0
  83  Sink            -0.013         0.912          -0.615         0              0              0
  84  Drawer          1.116          0.792          0.732          0              0              0
  85  StoveBurner     0.502          0.932          -0.469         0              0              0
  86  Drawer          1.116          0.792          0.367          0              0              0
  87  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  88  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  89  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  90  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  91  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  92  Fridge          -1.300         0.008          0.987          0              90             0
  93  GarbageCan      1.296          -0.024         1.465          0              0              0
  94  Window          -0.012         1.641          -0.972         90             0              0
  95  Window          1.598          1.646          2.489          90             270            0
  96  Toaster         1.356          0.900          1.044          0              270            0
  97  LightSwitch     0.118          1.353          3.799          0              180            0
  98  Microwave       -1.343         0.900          0.053          0              90             0
  99  SinkBasin       -0.029         0.748          -0.612         0              0              0
 100  Faucet          -0.026         0.927          -0.808         0              0              0
 101  Shelf           -1.182         0.127          2.414          0              90             0
 102  Stool           1.140          0.007          3.262          1.206          20.753         0
 103  Shelf           -1.182         0.435          2.414          0              90             0
 104  DiningTable     1.169          0.014          2.569          0              0              1.896
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Proceed ahead to sink. | STEP 2: Pick up cup from center of sink. | STEP 3: Turn right, proceed to microwave. | STEP 4: Open microwave, put cup in microwave to right of eggs.  Close microwave.  Wait three seconds, open microwave, remove cup, close door. | STEP 5: Turn left to face counter. | STEP 6: Place cup on counter to the right of the spatula. | END