Task: get a cup from the table warm it in the microwave then place it on the 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          1.124          1.25           0              180            0
   1  Pan             0.492          1.322          -2.789         0              0              0              45
   2  DishSponge      0.858          0.459          0.947          0              0              0              72
   3  Kettle          -1.817         0.344          0.613          0              0              0              43
   4  Spatula         -2.049         1.337          2.069          0              0              0              45
   5  Pot             -0.125         1.332          -2.973         0              0              0              53
   6  Egg             -1.451         1.363          -2.760         0              0              0              45
   7  Egg             -1.363         1.363          -1.503         0              0              0              45
   8  Cup             -1.954         1.048          -0.542         0              0              0              63
   9  SoapBottle      -1.345         1.323          -0.332         0              0              0              45
  10  SoapBottle      -1.645         0.422          -1.348         0              270            0              51
  11  Tomato          -1.610         0.314          2.151          0              270            0              60
  12  Bowl            0.957          1.944          1.788          0              270            0              58
  13  SaltShaker      -1.561         0.417          -1.283         0              0              0              51
  14  PepperShaker    0.861          1.202          1.222          0              0              0              70
  15  Lettuce         0.492          1.399          -3.232         0              0              0              45
  16  Mug             1.155          1.318          -2.053         0              0              0              45
  17  Bread           -1.308         1.397          -3.314         0              0              0              45
  18  Pot             -0.630         1.331          -3.301         0              180            0              42
  19  Knife           -1.790         1.352          -2.201         0              0              0              45
  20  Bowl            -1.665         0.342          -1.763         0              0              0              41
  21  Potato          -2.093         1.374          -0.911         0              0              0              52
  22  SoapBottle      -1.657         0.280          2.275          0              270            0              60
  23  Fork            -1.401         1.323          0.770          0              0              0              45
  24  Cup             -1.790         1.320          1.744          0              0              0              45
  25  Kettle          -0.749         1.332          -2.973         0              0              0              48
  26  Egg             0.938          1.798          2.171          0              270            0              58
  27  Pan             -1.660         1.322          -2.981         0              0              0              45
  28  SaltShaker      -2.049         1.318          1.094          0              0              0              45
  29  WineBottle      -1.790         1.323          -2.721         0              0              0              45
  30  Lettuce         -2.049         1.399          -1.681         0              0              0              45
  31  Spatula         -2.179         1.337          -1.941         0              90             0              45
  32  PaperTowelRoll  1.025          1.427          -2.424         0              0              0              45
  33  Tomato          0.977          1.709          1.486          0              270            0              58
  34  Plate           -1.237         1.323          -3.092         0              0              0              45
  35  PepperShaker    -1.750         0.338          1.110          0              0              0              46
  36  DishSponge      -1.915         1.335          -1.255         0              0              0              52
  37  Spoon           -1.826         1.334          -1.049         0              0              0              52
  38  Apple           1.213          1.359          0.810          0              270            0              70
  39  Mug             -1.698         1.046          -0.496         0              0              0              63
  40  StoveBurner     -0.239         1.325          -3.301         0              180            0
  41  Cabinet         -1.461         0.775          -2.002         0              0              0
  42  StoveBurner     -0.630         1.325          -3.301         0              180            0
  43  Cabinet         -1.461         0.775          0.470          0              0              0
  44  Cabinet         0.578          0.776          -2.054         0              0              0
  45  CounterTop      -1.809         1.358          1.182          0              0              0
  46  Cabinet         -1.461         0.775          1.310          0              0              0
  47  Faucet          -2.063         1.362          -0.726         0              39.391         0
  48  StoveBurner     -0.749         1.325          -2.973         0              0              0
  49  Drawer          -1.610         0.681          -0.430         0              0              0
  50  Window          -2.566         1.799          -0.822         270            0              0
  51  Drawer          -1.610         0.681          -1.217         0              0              0
  52  Sink            -1.990         1.143          -0.975         0              0              0
  53  StoveBurner     -0.125         1.325          -2.973         0              0              0
  54  StoveKnob       -0.185         1.338          -2.741         0              270            180
  55  StoveKnob       -0.336         1.338          -2.741         0              270            180
  56  StoveKnob       -0.569         1.338          -2.741         0              270            180
  57  StoveKnob       -0.707         1.338          -2.741         0              270            180
  58  Fridge          1.013          0.227          1.917          0              270            0
  59  Microwave       0.994          1.310          -2.163         0              270            0
  60  GarbageCan      -1.633         0.212          2.192          0              270            0
  61  LightSwitch     1.386          1.565          -0.657         0              270            0
  62  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  63  SinkBasin       -1.835         1.039          -0.542         0              0              0
  64  ButterKnife     0.873          0.468          0.651          0              0              0
  65  Toaster         -1.885         1.310          -2.512         0              90             0
  66  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  67  Drawer          0.647          1.061          0.680          0              270            0
  68  Drawer          0.648          1.061          1.020          0              270            0
  69  Drawer          0.648          0.843          1.020          0              270            0
  70  SideTable       0.975          0.220          0.869          0              270            0
  71  Drawer          0.648          0.602          0.680          0              270            0
  72  Drawer          0.648          0.596          1.020          0              270            0
  73  Drawer          0.648          0.843          0.680          0              270            0
  74  Stool           0.606          0.222          -1.084         1.233          280.489        0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: walk over to the table | STEP 2: pick up the green cup from the table | STEP 3: take the cup to the microwave | STEP 4: warm the cup in the microwave then remove | STEP 5: approach the same counter again | STEP 6: set the cup on the counter to the left of the microwave | END