Task: Heat the cup with microwave, put it back in the coffee machine

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          3.0            0              180            0
   1  DishSponge      0.703          0.690          0.980          0              0              0              59
   2  ButterKnife     -0.921         0.900          1.555          0              180            0              89
   3  Pot             0.913          0.850          1.375          0              0              0              47
   4  Spatula         -1.185         0.915          1.349          0              0              0              89
   5  Spatula         -1.578         0.838          3.545          0              0              0              71
   6  Spoon           -0.524         0.901          1.040          0              90             0              89
   7  Spoon           1.099          0.824          1.028          0              90             0              48
   8  Fork            -0.524         0.901          1.349          0              90             0              89
   9  Egg             -1.486         1.395          3.836          0              180            0              77
  10  Cup             -2.709         1.398          3.858          0              0              0              62
  11  Cup             -2.175         1.398          3.858          0              0              0              49
  12  Knife           -0.789         0.923          1.246          0              90             0              89
  13  Tomato          -0.524         0.969          1.246          0              90             0              89
  14  PepperShaker    1.024          0.819          0.939          0              0              0              48
  15  PepperShaker    -0.657         0.896          0.937          0              90             0              89
  16  Lettuce         -1.317         0.976          1.040          0              90             0              89
  17  Mug             1.024          0.818          1.072          0              180            0              48
  18  Apple           -2.752         1.252          2.221          0              90             0              80
  19  Apple           -2.577         1.056          2.389          0              90             0              80
  20  Plate           0.860          0.812          0.976          0              0              0              48
  21  Fork            1.025          0.813          2.545          0              0              0              45
  22  Bread           0.820          0.864          2.448          0              0              1.115          48
  23  Spatula         -1.053         0.915          1.452          0              270            0              89
  24  PaperTowelRoll  -2.250         0.927          3.575          0              0              0              71
  25  Potato          0.650          0.866          1.028          0              0              0              48
  26  SoapBottle      0.875          0.822          2.198          0              0              0              53
  27  Egg             -2.752         1.227          2.446          0              90             0              80
  28  Cup             -2.511         0.126          3.419          0              0              0              64
  29  Pot             -2.636         0.766          2.277          0              90             0              80
  30  SaltShaker      -0.657         0.896          1.143          0              90             0              89
  31  Pan             -2.667         0.812          3.74           0              137.145        0              71
  32  PepperShaker    -0.524         0.896          1.555          0              90             0              89
  33  ButterKnife     1.013          0.817          2.370          349.520        0              0              53
  34  Tomato          -0.913         0.962          1.484          0              0              0              89
  35  DishSponge      -2.502         1.634          3.061          0              0              0              67
  36  Lettuce         -1.185         0.976          1.555          0              90             0              89
  37  Spoon           0.737          0.693          2.199          0              0              0              42
  38  Apple           0.931          0.085          2.918          0              0              0              82
  39  Knife           -2.779         0.846          3.479          0              0              0              71
  40  Mug             -1.109         0.940          1.203          0              0              0              89
  41  Bowl            -2.461         1.189          2.389          0              270            0              80
  42  Drawer          0.729          0.703          2.199          0              0              0
  43  Cabinet         -1.962         1.926          3.733          0              0              0
  44  Cabinet         -2.377         2.014          1.058          0              0              0
  45  Drawer          0.729          0.703          2.532          0              0              0
  46  Cabinet         -2.622         1.925          3.733          0              0              0
  47  StoveBurner     0.913          0.843          1.375          0              0              0
  48  CounterTop      0.864          0.858          0.984          0              0              0
  49  Cabinet         -1.976         1.779          3.734          0              0              0
  50  Cabinet         0.580          0.385          0.819          0              0              0
  51  Cabinet         -2.379         1.408          1.677          0              0              0
  52  Cabinet         -0.419         1.703          3.736          0              0              0
  53  CounterTop      0.864          0.858          2.371          0              0              0
  54  Sink            -1.702         0.726          3.828          0              180            0
  55  Cabinet         0.580          0.385          2.694          0              0              0
  56  Cabinet         -2.379         0.637          1.677          0              0              0
  57  Cabinet         -0.419         0.674          3.736          0              0              0
  58  Cabinet         -2.377         2.014          2.558          0              0              0
  59  Drawer          0.729          0.703          0.980          0              0              0
  60  Drawer          -2.114         0.706          3.657          0              0              0
  61  Cabinet         -2.377         1.691          2.572          0              0              0
  62  Cabinet         -2.951         1.925          3.733          0              0              0
  63  Cabinet         0.580          0.385          2.360          0              0              0
  64  Cabinet         -2.426         0.435          3.421          0              0              0
  65  StoveBurner     0.642          0.843          1.375          0              0              0
  66  Cabinet         -2.377         1.927          1.686          0              0              0
  67  Cabinet         -2.377         2.013          3.177          0              0              0
  68  Cabinet         -1.136         0.385          3.516          0              0              0
  69  StoveBurner     0.913          0.843          1.768          0              0              0
  70  Cabinet         -1.974         0.385          3.516          0              0              0
  71  CounterTop      -2.081         0.858          3.799          0              0              0
  72  Cabinet         -2.426         0.435          3.174          0              0              0
  73  Cabinet         -2.377         2.014          1.693          0              0              0
  74  Cabinet         -1.986         0.385          3.511          0              0              0
  75  StoveBurner     0.642          0.843          1.768          0              0              0
  76  Cabinet         -1.098         1.926          3.729          0              0              0
  77  Microwave       -1.529         1.250          3.881          1.622          180            0
  78  CoffeeMachine   1.000          0.812          2.492          0              270            0
  79  LightSwitch     0.825          1.396          4.082          0              180            0
  80  Fridge          -2.642         0.0            2.134          0              180            0
  81  Window          -1.131         1.673          0.808          90             0              0
  82  GarbageCan      0.931          -0.000         2.918          0              0              0
  83  SinkBasin       -1.601         0.686          3.774          0              0              0
  84  StoveKnob       1.104          1.002          1.886          0              0              70.346
  85  StoveKnob       1.104          1.002          1.733          0              0              70.346
  86  StoveKnob       1.104          1.002          1.321          0              0              70.346
  87  StoveKnob       1.104          1.002          1.481          0              0              70.346
  88  Toaster         -2.247         0.812          3.862          0              180            0
  89  DiningTable     -0.917         -0.000         1.203          0              0              0
  90  Stool           -0.932         0.000          1.404          1.196          21.715         0
  91  Faucet          -1.842         0.809          3.984          0              180            0
  92  Faucet          -1.371         0.809          3.985          0              180            0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: walk straight to the side of the table | STEP 2: Grab the cup from the coffee machine | STEP 3: Turn left, walk to the microwave | STEP 4: Put the cup in the microwave, close the microwave, heat the microwave, open the microwave, take the cup out, close the microwave | STEP 5: Turn around, walk back to the side of the white table | STEP 6: Put the cup under the coffee machine on the table | END