Task: heat up 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           0.25           0.900          0.75           0              270            0
   1  Potato          -0.544         1.069          2.066          0              0              0              59
   2  Potato          2.662          0.806          3.455          0              329.999        0              57
   3  ButterKnife     2.359          0.764          4.129          0              329.999        0              57
   4  WineBottle      2.599          0.765          3.795          0              0              0              57
   5  Glassbottle     -0.956         0.077          2.748          0              0              0              111
   6  Glassbottle     -0.669         1.028          1.821          0              0              0              59
   7  Pot             1.761          1.027          -1.599         0              0              0              99
   8  Spatula         2.651          0.816          -0.313         0              90             0              66
   9  Spatula         2.113          0.779          3.527          0              225            0              57
  10  Spoon           2.706          0.803          -1.132         0              0              0              56
  11  Spoon           -0.782         0.817          1.103          0              180            0              113
  12  Fork            2.100          0.765          3.969          0              270            0              57
  13  Fork            -0.519         0.800          2.007          0              0              0              61
  14  Egg             -0.987         0.830          -0.295         0              90             0              100
  15  Knife           2.633          0.789          4.047          0              225            0              57
  16  SoapBottle      2.919          0.763          3.604          0              329.999        0              57
  17  Bowl            -0.807         2.288          -0.154         0              0              0              87
  18  Bowl            1.895          1.859          -1.809         0              0              0              102
  19  SaltShaker      2.875          1.023          -0.846         0              0              0              56
  20  PepperShaker    -0.360         1.023          1.263          0              0              0              59
  21  PepperShaker    2.376          0.760          3.795          0              0              0              57
  22  Bread           2.404          1.094          1.303          0              136.999        0              56
  23  Lettuce         1.409          1.085          -1.454         0              90             0              56
  24  Lettuce         -0.645         0.874          1.492          0              90             0              113
  25  Mug             -0.803         1.070          0.646          0              90             0              109
  26  Mug             -0.877         1.437          -0.405         0              90             0              100
  27  Mug             -0.906         0.781          -0.627         0              90             0              100
  28  Pan             2.302          0.764          4.495          0              0              0              57
  29  Glassbottle     -0.544         1.028          2.556          0              0              0              59
  30  Knife           -0.714         0.841          1.259          0              180            0              113
  31  SoapBottle      1.469          1.025          -1.774         0              90             0              56
  32  Egg             -0.544         1.071          0.877          0              0              0              59
  33  Fork            -0.544         1.028          0.323          0              0              0              59
  34  Potato          -1.074         1.069          1.427          0              0              0              59
  35  Ladle           1.956          0.803          3.685          0              225            0              57
  36  Tomato          1.290          1.080          -1.774         0              90             0              56
  37  Pot             2.706          1.029          -1.151         0              0              0              56
  38  WineBottle      2.276          0.765          3.821          0              270            0              57
  39  Plate           2.621          1.027          0.068          0              0              0              56
  40  Spatula         2.425          1.041          -1.987         0              90             0              56
  41  PaperTowelRoll  -1.187         1.131          1.519          0              0              0              59
  42  Lettuce         -0.851         0.874          1.181          0              90             0              113
  43  Apple           -0.544         1.077          1.821          0              0              0              59
  44  SaltShaker      2.626          0.760          4.118          0              270            0              57
  45  PepperShaker    2.191          0.760          3.710          0              225            0              57
  46  ButterKnife     2.706          1.026          -0.541         0              0              0              56
  47  Bread           2.875          1.094          -0.541         0              0              0              56
  48  Cup             -1.013         1.440          -0.627         0              90             0              100
  49  DishSponge      2.899          0.032          -0.323         0              0              0              82
  50  Bowl            -1.023         1.779          1.917          0              0              0              73
  51  Spoon           2.595          0.802          -0.359         0              90             0              56
  52  Mug             -0.418         1.022          2.189          0              0              0              59
  53  Sink            -0.716         1.023          1.333          0              0              0
  54  StoveBurner     1.835          1.018          -1.840         0              90             0
  55  StoveBurner     2.177          1.018          -1.599         0              0              0
  56  CounterTop      2.812          0.992          0.675          0              0              0
  57  DiningTable     2.419          0.003          3.930          0              0              0
  58  Drawer          -0.643         0.828          0.616          0              0              0
  59  CounterTop      -0.813         1.062          2.188          0              0              0
  60  StoveBurner     2.115          1.018          -1.840         0              270            0
  61  Drawer          -0.643         0.831          1.953          0              0              0
  62  Drawer          -0.643         0.833          2.418          0              0              0
  63  Drawer          1.347          0.836          -1.539         0              0              0
  64  Drawer          2.693          0.833          -1.131         0              0              0
  65  Drawer          2.693          0.833          -0.699         0              0              0
  66  Drawer          2.693          0.833          -0.267         0              0              0
  67  Drawer          2.693          0.833          0.163          0              0              0
  68  Drawer          2.524          0.833          0.720          0              2.000          0
  69  Drawer          2.232          0.833          1.036          0              2.000          0
  70  Drawer          1.936          0.833          1.354          0              2.000          0
  71  Drawer          1.646          0.833          1.670          0              2.000          0
  72  Cabinet         1.504          2.475          -1.710         0              0              0
  73  Cabinet         -0.823         2.220          1.621          0              0              0
  74  Cabinet         -0.823         2.220          0.615          0              0              0
  75  Cabinet         1.136          0.388          -1.355         0              0              0
  76  Cabinet         -0.356         0.383          2.626          0              0              0
  77  Cabinet         2.745          2.220          -1.690         0              0              0
  78  Cabinet         1.882          0.383          1.017          0              0              0
  79  Cabinet         1.307          0.473          1.640          0              0              0
  80  Cabinet         1.892          0.383          1.006          0              0              0
  81  Cabinet         2.467          0.383          0.383          0              0              0
  82  Cabinet         2.466          0.383          -0.475         0              0              0
  83  Cabinet         2.466          0.473          0.371          0              0              0
  84  Cabinet         2.386          2.475          -1.710         0              0              0
  85  Cabinet         -0.356         0.383          1.712          0              0              0
  86  Cabinet         2.745          2.220          0.019          0              0              0
  87  Cabinet         -0.663         2.496          0.157          0              0              0
  88  Cabinet         -0.663         2.496          -0.868         0              0              0
  89  Cabinet         -0.356         0.383          0.269          0              0              0
  90  Cabinet         -0.823         2.220          1.603          0              0              0
  91  Cabinet         -0.662         2.234          0.586          0              0              0
  92  Cabinet         2.745          2.220          -0.843         0              0              0
  93  Cabinet         2.745          2.220          -0.827         0              0              0
  94  Cabinet         -0.823         2.220          2.608          0              0              0
  95  Cabinet         2.732          2.226          -1.709         0              0              0
  96  Cabinet         1.137          2.226          -1.709         0              0              0
  97  Cabinet         2.466          0.383          -0.491         0              0              0
  98  Cabinet         2.466          0.383          -1.339         0              0              0
  99  StoveBurner     1.761          1.018          -1.599         0              0              0
 100  Fridge          -0.908         0.0            -0.405         0              0              0
 101  HousePlant      2.517          1.016          1.822          0              0              0
 102  Microwave       1.939          1.745          -1.826         0              0              0
 103  StoveKnob       2.017          1.041          -1.514         0              180            180
 104  StoveKnob       1.934          1.041          -1.514         0              180            180
 105  StoveKnob       2.017          1.041          -1.589         0              180            180
 106  StoveKnob       1.934          1.041          -1.589         0              180            180
 107  Window          1.756          1.608          4.762          90             0              0
 108  HousePlant      2.171          1.004          2.091          0              0              0
 109  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 110  LightSwitch     -0.099         1.410          -2.066         0              0              0
 111  GarbageCan      -0.951         -0.029         2.826          0              0              0
 112  Toaster         -1.007         1.018          2.238          0              90             0
 113  SinkBasin       -0.714         0.805          1.348          0              90             0
 114  Chair           1.615          0.004          4.310          0              107.976        0
 115  Faucet          -1.120         1.013          1.334          0              90             0
 116  Chair           2.759          0.004          3.086          0              358.967        0
 117
 118  NorthWall
 119  EastWall
 120  SouthWall
 121  WestWall

Plan:
STEP 1: walk forward to the counter | STEP 2: pick up the cup from the counter | STEP 3: turn left twice and walk to the counter. make a right and walk over to the stove | STEP 4: reach up and open the microwave. place the cup inside and turn it on.  open the microwave and take the cup out | STEP 5: Turn right twice and walk over towards the counter. turn left and walk over to the coffee maker | STEP 6: place the cup on the coffee maker | END