Task: Clean a cup to place it in the microwave.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          0.5            0              90             0
   1  Potato          1.501          0.950          1.180          0              90             0              35
   2  ButterKnife     1.757          0.910          0.915          0              90             0              35
   3  Pot             1.807          0.909          0.075          0              180            0              36
   4  Cup             -0.644         1.387          -1.524         0              0              0              62
   5  SoapBottle      1.878          2.135          0.805          0              0              0              43
   6  SoapBottle      1.607          0.908          0.518          0              90             0              35
   7  Bowl            1.805          1.631          -0.828         0              0              0              47
   8  SaltShaker      1.805          2.132          0.918          0              0              0              43
   9  PepperShaker    1.841          1.630          -1.460         0              0              0              48
  10  PepperShaker    1.805          1.648          -0.545         0              0              0              46
  11  Bread           1.757          0.987          1.180          0              90             0              35
  12  Mug             0.476          0.905          1.269          0              90             0              35
  13  Plate           1.802          1.647          -0.000         0              0              0              45
  14  SoapBottle      0.732          0.908          0.827          0              90             0              35
  15  Cup             1.451          0.908          0.415          0              90             0              35
  16  Egg             1.77           0.105          1.779          0              270            0              53
  17  Fork            1.762          0.911          0.518          0              180            0              35
  18  Ladle           1.586          0.955          -1.460         0              90             0              39
  19  Apple           1.706          1.072          -0.729         0              270            0              59
  20  SaltShaker      1.501          0.905          0.739          0              90             0              35
  21  Pan             1.281          0.900          1.190          0              0              0              35
  22  Tomato          -0.790         0.810          -1.559         0              0              0              62
  23  Spatula         1.796          0.926          -1.460         0              270            0              39
  24  Potato          1.77           0.110          1.684          0              270            0              53
  25  Knife           1.839          0.943          0.570          0              0              0              35
  26  ButterKnife     0.296          0.9            -1.296         0              14.568         0              39
  27  Bread           0.220          0.987          0.827          0              90             0              35
  28  Lettuce         0.220          1.010          1.092          0              90             0              35
  29  PepperShaker    0.356          0.906          -1.263         0              90             0              39
  30  Pot             1.807          0.909          -0.320         0              180            0              37
  31  DishSponge      1.805          1.634          -1.297         0              0              0              48
  32  Spoon           1.762          0.911          0.363          0              90             0              35
  33  Bowl            1.865          0.910          -1.374         0              90             0              39
  34  Mug             -0.595         0.455          -1.541         0              0              0              62
  35  CounterTop      0.989          0.946          1.016          0              90             0
  36  StoveBurner     1.807          0.907          0.075          0              180            0
  37  StoveBurner     1.807          0.907          -0.320         0              180            0
  38  StoveBurner     1.543          0.907          -0.320         0              90             0
  39  CounterTop      0.989          0.946          -1.516         0              90             0
  40  Sink            1.100          0.906          -1.599         0              0              0
  41  StoveBurner     1.548          0.907          0.075          0              180            0
  42  Cabinet         1.658          2.299          1.313          0              0              0
  43  Cabinet         1.658          2.299          0.686          0              0              0
  44  Cabinet         1.658          2.049          0.673          0              0              0
  45  Cabinet         1.658          2.059          0.193          0              0              0
  46  Cabinet         1.658          2.059          -0.593         0              0              0
  47  Cabinet         1.658          2.049          -0.606         0              0              0
  48  Cabinet         1.658          2.049          -1.206         0              0              0
  49  Cabinet         1.658          2.049          -1.893         0              0              0
  50  Toaster         0.131          0.900          -1.589         0              0              0
  51  Window          -0.372         1.588          3.349          90             0              0
  52  Window          0.782          1.741          -1.893         90             0              0
  53  GarbageCan      1.770          -0.029         1.685          0              270            0
  54  SinkBasin       1.091          0.740          -1.599         0              0              0
  55  StoveKnob       1.364          0.821          0.086          48.421         270            0
  56  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  57  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  58  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  59  Microwave       1.752          0.900          -0.843         0              270            0
  60  LightSwitch     2.0            1.261          3.094          0              270            0
  61  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  62  Fridge          -0.533         0.0            -1.554         0              0              0
  63  Chair           1.068          0.000          1.752          0              191.622        0
  64  Faucet          1.110          1.138          -1.764         0              270            0
  65  Chair           0.357          0.000          1.710          0              178.899        0
  66  NorthWall
  67  EastWall
  68  SouthWall
  69  WestWall

Plan:
STEP 1: Face right then back again to walk straight to the counter next to the stove. | STEP 2: Take the green cup off of the counter. | STEP 3: Turn to your right and walk to the sink with the cup. | STEP 4: Put the cup in the sink and turn the water on. Turn the water back off and take out the cup. | STEP 5: Turn to your left facing the microwave. | STEP 6: Open the microwave and place the cup next to the apple on the plate and shut the door. | END