Task: To gather two cups and put them 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           -2.25          0.901          1.0            0              90             0
   1  Potato          -0.143         0.926          2.932          0              0              0              75
   2  Spatula         -2.789         0.915          2.706          0              0              0              73
   3  Spoon           -1.180         0.797          0.337          0              0              0              70
   4  Pot             -0.400         0.900          2.731          0              180            0              75
   5  Egg             -3.022         0.968          3.302          0              0              0              59
   6  Egg             -2.644         0.332          4.575          0              90             0              69
   7  Cup             -2.722         1.186          4.278          0              90             0              69
   8  Plate           -2.301         1.777          0.205          0              0              0              48
   9  Plate           -0.802         1.777          0.160          0              0              0              50
  10  Tomato          -2.847         0.696          4.501          0              90             0              69
  11  Tomato          -0.657         0.964          3.133          0              0              0              75
  12  Bowl            -0.400         0.897          2.530          0              0              0              75
  13  SaltShaker      -1.193         1.769          0.114          0              0              0              49
  14  PepperShaker    -2.480         0.896          2.309          0              0              0              73
  15  PepperShaker    -2.323         0.658          0.409          0              0              0              60
  16  Lettuce         -0.657         0.980          3.535          0              0              0              75
  17  Mug             -2.995         0.895          2.441          0              0              0              73
  18  Mug             -2.628         0.930          3.488          0              0              0              59
  19  Apple           -0.314         0.956          3.334          0              0              0              75
  20  Egg             -2.722         1.219          4.575          0              90             0              69
  21  Plate           -2.686         0.904          2.706          0              0              0              73
  22  Fork            -0.228         0.901          2.731          0              0              0              75
  23  Bread           -2.686         0.957          2.309          0              0              0              73
  24  Apple           -1.007         0.852          0.447          0              0              0              70
  25  Lettuce         -2.738         0.378          4.427          0              90             0              69
  26  Spatula         -0.486         0.915          2.329          0              0              0              75
  27  Knife           -2.706         0.961          3.766          0              180            0              59
  28  Potato          -2.549         0.961          3.209          0              0              0              59
  29  Tomato          -2.847         0.696          4.352          0              90             0              69
  30  Cup             -2.480         0.900          2.573          0              0              0              73
  31  SaltShaker      -0.143         0.896          2.329          0              0              0              75
  32  PepperShaker    -2.037         0.924          0.518          0              0              0              52
  33  ButterKnife     -2.628         0.935          3.302          0              0              0              59
  34  SoapBottle      -2.943         0.935          3.209          0              0              0              59
  35  Pan             -0.250         0.926          4.651          0              0              0              54
  36  DishSponge      -1.180         0.795          0.226          0              0              0              70
  37  Pot             -0.535         0.928          4.274          0              0              0              56
  38  Spoon           -2.215         0.663          0.464          0              0              0              60
  39  Mug             -2.081         1.768          0.251          0              0              0              48
  40  Bowl            -1.193         1.770          0.251          0              0              0              49
  41  Drawer          -0.325         0.696          0.413          0              0              0
  42  Cabinet         -0.595         0.490          0.648          0              0              0
  43  Cabinet         -0.555         0.490          0.646          0              0              0
  44  Cabinet         -1.591         0.490          0.646          0              0              0
  45  Cabinet         -1.554         0.490          0.646          0              0              0
  46  Cabinet         -2.550         0.490          0.646          0              0              0
  47  Cabinet         -1.514         2.046          0.392          0              0              0
  48  Cabinet         -2.474         2.046          0.392          0              0              0
  49  Cabinet         -1.478         2.046          0.392          0              0              0
  50  Cabinet         -0.518         2.046          0.392          0              0              0
  51  Cabinet         -0.479         2.046          0.392          0              0              0
  52  CounterTop      -1.366         0.952          0.349          0              0              0
  53  Sink            -1.108         0.926          0.340          0              0              0
  54  StoveBurner     -0.254         0.922          4.672          0              0              0
  55  Drawer          -1.824         0.696          0.413          0              0              0
  56  StoveBurner     -0.535         0.922          4.274          0              0              0
  57  StoveBurner     -0.254         0.922          4.274          0              0              0
  58  StoveBurner     -0.536         0.922          4.672          0              0              0
  59  CounterTop      -2.780         0.971          3.487          0              0              0
  60  Drawer          -2.323         0.696          0.413          0              0              0
  61  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  65  Toaster         -0.286         0.861          3.520          0              270            0
  66  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  67  LightSwitch     -0.064         1.447          1.996          0              270            0
  68  Window          -3.075         1.593          1.361          90             90             0
  69  Fridge          -2.802         0.0            4.427          0              0              0
  70  SinkBasin       -1.106         0.785          0.337          0              0              0
  71  Microwave       -0.358         0.917          0.224          0              0              0
  72  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  73  DiningTable     -2.733         -0.003         2.607          0              270            0
  74  Faucet          -1.077         0.920          0.028          270            270            0
  75  DiningTable     -0.488         -0.003         3.182          0              270            0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Turn around and take 2 steps and turn to the left to face the cup on the end of the table. | STEP 2: Pick up the cup on the table. | STEP 3: Walk to the opposite corner of the kitchen to face the microwave. | STEP 4: Place the cup in the microwave. | STEP 5: Turn around, walk across the room, then turn left and walk forward to face the fridge. | STEP 6: Take the cup out of the freezer. | STEP 7: Turn left and walk across the room, then turn left and walk across the room and face the microwave on the right. | STEP 8: Place the cup in the microwave to the left of the first cup. | END