Task: To heat up a cup, as well as place it on 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           0.25           1.124          1.0            0              180            0
   1  DishSponge      -1.954         0.343          1.213          0              0              0              51
   2  Kettle          -2.049         1.324          -1.681         0              0              0              50
   3  Fork            -1.698         1.051          -0.542         0              0              0              68
   4  Pot             -0.239         1.331          -3.301         0              180            0              45
   5  Pot             -0.749         1.332          -2.973         0              0              0              53
   6  Cup             0.933          1.943          1.788          0              270            0              63
   7  Cup             -1.749         0.341          0.713          0              0              0              48
   8  Knife           0.636          1.352          -2.794         0              0              0              50
   9  SoapBottle      -1.886         0.344          1.317          0              0              0              51
  10  Tomato          -1.165         1.356          -3.314         0              0              0              50
  11  Tomato          0.420          1.356          -2.678         0              0              0              50
  12  SaltShaker      -1.665         0.338          -2.362         0              0              0              46
  13  SaltShaker      -1.790         1.318          2.069          0              0              0              50
  14  PepperShaker    1.110          1.202          1.238          0              0              0              75
  15  Bread           -1.790         1.397          -1.941         0              0              0              50
  16  Lettuce         -2.049         1.399          1.094          0              0              0              50
  17  Mug             -1.826         1.058          -0.542         0              0              0              68
  18  Mug             0.965          1.371          -1.534         0              270            0              71
  19  Mug             -1.750         0.338          1.523          0              0              0              51
  20  Apple           1.276          1.256          1.238          0              0              0              75
  21  Apple           0.938          1.806          2.289          0              270            0              63
  22  Bread           -1.920         1.397          1.744          0              0              0              50
  23  Pot             -0.125         1.332          -2.973         0              0              0              58
  24  Knife           -1.739         1.356          -1.118         0              180            353.910        57
  25  Bowl            0.900          0.343          -2.267         0              180            0              49
  26  Potato          -1.610         0.319          2.151          0              270            0              65
  27  SoapBottle      -1.522         1.323          -2.760         0              0              0              50
  28  Fork            0.939          0.740          0.983          0              90             0              74
  29  Cup             -1.954         1.048          -0.451         0              0              0              68
  30  Kettle          -0.630         1.331          -3.301         0              180            0              47
  31  Egg             -2.093         1.375          -0.980         0              0              0              57
  32  Pan             -1.881         0.327          -2.035         0              0              0              46
  33  SaltShaker      -1.602         0.338          -1.863         0              0              0              46
  34  WineBottle      -1.308         1.323          -3.092         0              0              0              50
  35  Lettuce         -1.939         1.397          -1.048         14.484         5.030          20.057         57
  36  Spatula         -1.920         1.337          -3.241         0              0              0              50
  37  PaperTowelRoll  -1.634         0.384          2.234          0              270            0              65
  38  Tomato          0.944          1.241          1.238          0              0              0              75
  39  Plate           -1.660         1.323          1.094          0              0              0              50
  40  PepperShaker    0.900          0.339          -1.957         0              180            0              49
  41  DishSponge      0.900          0.459          0.947          0              0              0              77
  42  Spoon           0.277          1.324          -2.789         0              0              0              50
  43  Apple           0.766          1.371          -3.164         0              0              0              50
  44  Mug             -1.660         1.318          2.069          0              0              0              50
  45  StoveBurner     -0.239         1.325          -3.301         0              180            0
  46  Cabinet         -1.461         0.775          -2.002         0              0              0
  47  StoveBurner     -0.630         1.325          -3.301         0              180            0
  48  Cabinet         -1.461         0.775          0.470          0              0              0
  49  Cabinet         0.578          0.776          -2.054         0              0              0
  50  CounterTop      -1.809         1.358          1.182          0              0              0
  51  Cabinet         -1.461         0.775          1.310          0              0              0
  52  Faucet          -2.063         1.362          -0.726         0              39.391         0
  53  StoveBurner     -0.749         1.325          -2.973         0              0              0
  54  Drawer          -1.610         0.681          -0.430         0              0              0
  55  Window          -2.566         1.799          -0.822         270            0              0
  56  Drawer          -1.610         0.681          -1.217         0              0              0
  57  Sink            -1.990         1.143          -0.975         0              0              0
  58  StoveBurner     -0.125         1.325          -2.973         0              0              0
  59  StoveKnob       -0.185         1.338          -2.741         0              270            180
  60  StoveKnob       -0.336         1.338          -2.741         0              270            180
  61  StoveKnob       -0.569         1.338          -2.741         0              270            180
  62  StoveKnob       -0.707         1.338          -2.741         0              270            180
  63  Fridge          1.013          0.227          1.917          0              270            0
  64  Microwave       0.994          1.310          -2.163         0              270            0
  65  GarbageCan      -1.633         0.212          2.192          0              270            0
  66  LightSwitch     1.386          1.565          -0.657         0              270            0
  67  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  68  SinkBasin       -1.835         1.039          -0.542         0              0              0
  69  ButterKnife     0.873          0.468          0.651          0              0              0
  70  Toaster         -1.885         1.310          -2.512         0              90             0
  71  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  72  Drawer          0.647          1.061          0.680          0              270            0
  73  Drawer          0.648          1.061          1.020          0              270            0
  74  Drawer          0.648          0.843          1.020          0              270            0
  75  SideTable       0.975          0.220          0.869          0              270            0
  76  Drawer          0.648          0.602          0.680          0              270            0
  77  Drawer          0.648          0.596          1.020          0              270            0
  78  Drawer          0.648          0.843          0.680          0              270            0
  79  Stool           0.606          0.222          -1.084         1.233          280.489        0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn to the right, take a step, then turn left, then walk across the room, then turn left to face the counter. | STEP 2: Pick up the coffee cup from on the coffee maker. | STEP 3: Turn to the left, walk across the room, then turn right to face the microwave. | STEP 4: Open the microwave, put the cup inside, heat the cup, open the microwave, remove the cup. | STEP 5: Turn around, take a step, take a left, walk across the room, turn to the left to face the coffee maker on the counter. | STEP 6: place the coffee cup on the coffee maker. | END