Task: place a warm cup underneath the spout of 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          2.0            0              270            0
   1  DishSponge      -2.087         0.698          3.699          0              0              0              57
   2  Pot             0.913          0.850          1.375          0              0              0              44
   3  Spoon           1.025          0.812          1.028          0              0              0              45
   4  Fork            -1.185         0.901          1.452          0              90             0              86
   5  Fork            0.703          0.692          2.163          0              90             0              39
   6  Egg             -2.577         0.803          2.221          0              90             0              77
   7  Plate           -1.697         1.687          3.897          0              0              0              40
   8  Cup             0.650          0.822          0.895          0              0              0              45
   9  Knife           -0.657         0.923          1.246          0              90             0              86
  10  Tomato          -2.563         0.891          3.331          0              0              0              68
  11  Bowl            -2.519         0.765          2.389          0              90             0              77
  12  PepperShaker    1.099          0.819          1.117          0              0              0              45
  13  PepperShaker    0.650          0.819          2.285          0              0              0              50
  14  Mug             1.024          0.818          2.458          0              90             0              50
  15  Apple           -2.519         1.252          2.109          0              90             0              77
  16  Apple           0.989          0.085          2.918          0              90             0              79
  17  Plate           0.859          0.812          0.975          0              0              0              45
  18  Fork            -0.524         0.901          1.349          0              90             0              86
  19  Bread           0.827          0.861          2.449          0              0              0              45
  20  Spatula         -1.053         0.915          1.555          0              180            0              86
  21  PaperTowelRoll  1.024          0.927          0.939          0              90             0              45
  22  Potato          -1.317         0.943          1.040          0              90             0              86
  23  SoapBottle      -0.524         0.900          1.040          0              90             0              86
  24  Egg             -0.657         0.936          1.555          0              90             0              86
  25  Cup             -1.362         0.697          3.691          0              0              0              80
  26  Pot             0.913          0.850          1.768          0              0              0              66
  27  SaltShaker      -2.511         0.123          3.243          0              0              0              69
  28  Pan             -2.667         0.812          3.74           0              137.145        0              68
  29  PepperShaker    -2.619         1.630          2.953          0              0              0              64
  30  ButterKnife     -2.172         0.812          3.552          0              0              0              68
  31  Tomato          -1.317         0.969          1.246          0              90             0              86
  32  DishSponge      0.737          0.690          1.016          0              0              0              56
  33  Lettuce         -2.694         1.071          2.389          0              90             0              77
  34  Spoon           -1.317         0.901          1.349          0              90             0              86
  35  Apple           -2.677         1.469          2.333          0              90             0              77
  36  Knife           -1.819         0.846          3.514          0              0              0              68
  37  Mug             -1.109         0.940          1.203          0              0              0              86
  38  Bowl            -2.694         0.993          2.165          0              90             0              77
  39  Drawer          0.729          0.703          2.199          0              0              0
  40  Cabinet         -1.962         1.926          3.733          0              0              0
  41  Cabinet         -2.377         2.014          1.058          0              0              0
  42  Drawer          0.729          0.703          2.532          0              0              0
  43  Cabinet         -2.622         1.925          3.733          0              0              0
  44  StoveBurner     0.913          0.843          1.375          0              0              0
  45  CounterTop      0.864          0.858          0.984          0              0              0
  46  Cabinet         -1.976         1.779          3.734          0              0              0
  47  Cabinet         0.580          0.385          0.819          0              0              0
  48  Cabinet         -2.379         1.408          1.677          0              0              0
  49  Cabinet         -0.419         1.703          3.736          0              0              0
  50  CounterTop      0.864          0.858          2.371          0              0              0
  51  Sink            -1.702         0.726          3.828          0              180            0
  52  Cabinet         0.580          0.385          2.694          0              0              0
  53  Cabinet         -2.379         0.637          1.677          0              0              0
  54  Cabinet         -0.419         0.674          3.736          0              0              0
  55  Cabinet         -2.377         2.014          2.558          0              0              0
  56  Drawer          0.729          0.703          0.980          0              0              0
  57  Drawer          -2.114         0.706          3.657          0              0              0
  58  Cabinet         -2.377         1.691          2.572          0              0              0
  59  Cabinet         -2.951         1.925          3.733          0              0              0
  60  Cabinet         0.580          0.385          2.360          0              0              0
  61  Cabinet         -2.426         0.435          3.421          0              0              0
  62  StoveBurner     0.642          0.843          1.375          0              0              0
  63  Cabinet         -2.377         1.927          1.686          0              0              0
  64  Cabinet         -2.377         2.013          3.177          0              0              0
  65  Cabinet         -1.136         0.385          3.516          0              0              0
  66  StoveBurner     0.913          0.843          1.768          0              0              0
  67  Cabinet         -1.974         0.385          3.516          0              0              0
  68  CounterTop      -2.081         0.858          3.799          0              0              0
  69  Cabinet         -2.426         0.435          3.174          0              0              0
  70  Cabinet         -2.377         2.014          1.693          0              0              0
  71  Cabinet         -1.986         0.385          3.511          0              0              0
  72  StoveBurner     0.642          0.843          1.768          0              0              0
  73  Cabinet         -1.098         1.926          3.729          0              0              0
  74  Microwave       -1.529         1.250          3.881          1.622          180            0
  75  CoffeeMachine   1.000          0.812          2.492          0              270            0
  76  LightSwitch     0.825          1.396          4.082          0              180            0
  77  Fridge          -2.642         0.0            2.134          0              180            0
  78  Window          -1.131         1.673          0.808          90             0              0
  79  GarbageCan      0.931          -0.000         2.918          0              0              0
  80  SinkBasin       -1.601         0.686          3.774          0              0              0
  81  StoveKnob       1.104          1.002          1.886          0              0              70.346
  82  StoveKnob       1.104          1.002          1.733          0              0              70.346
  83  StoveKnob       1.104          1.002          1.321          0              0              70.346
  84  StoveKnob       1.104          1.002          1.481          0              0              70.346
  85  Toaster         -2.247         0.812          3.862          0              180            0
  86  DiningTable     -0.917         -0.000         1.203          0              0              0
  87  Stool           -0.932         0.000          1.404          1.196          21.715         0
  88  Faucet          -1.842         0.809          3.984          0              180            0
  89  Faucet          -1.371         0.809          3.985          0              180            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: move forwards to the end of the room where the fridge is, and turn left, and walk to the wall, then turn left to face the kitchen table | STEP 2: grab the cup out from underneath coffee maker there | STEP 3: turn left and walk to the end of the room and align yourself with the microwave above the sink | STEP 4: place the cup inside of the microwave above the sink, close the door, then turn the microwave on and let it heat up, once it has done so take it back out | STEP 5: turn around and walk back over to the table in front of the fridge to the right, and face the table | STEP 6: place the cup inside of the coffee maker underneath the spout there | END