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          -0.5           0              90             0
   1  Pan             1.361          0.962          0.294          0              180            0              43
   2  Potato          -1.959         0.810          -1.720         0              0              0              78
   3  Potato          0.341          0.806          -1.552         0              270            0              71
   4  ButterKnife     -1.928         0.952          0.524          0              90             0              81
   5  Spoon           -1.928         0.953          0.524          0              90             0              81
   6  Spatula         -2.614         0.967          0.435          0              180            0              81
   7  Cup             -0.147         0.109          -1.434         0              0              0              57
   8  Cup             -2.222         1.491          -1.720         0              0              0              78
   9  Plate           -0.359         0.913          -1.820         0              0              0              48
  10  SoapBottle      -1.928         0.950          0.614          0              90             0              81
  11  SoapBottle      -2.203         0.950          0.165          0              90             0              81
  12  Tomato          -0.361         0.119          0.482          0              90             0              77
  13  Tomato          -2.065         1.001          0.704          0              90             0              81
  14  PepperShaker    1.724          0.908          0.540          0              0              0              63
  15  PepperShaker    -1.791         0.948          0.165          0              90             0              81
  16  Bread           -2.065         1.035          0.345          0              90             0              81
  17  Mug             -2.397         0.506          -1.763         0              90             0              78
  18  Apple           1.724          0.979          0.292          0              0              0              63
  19  Bread           1.846          0.995          0.623          0              0              0              63
  20  Knife           1.535          0.937          -1.654         0              0              0              48
  21  Fork            -1.928         0.952          0.255          0              270            0              81
  22  Bowl            0.504          0.109          0.308          0              0              0              59
  23  Kettle          0.856          0.920          -1.516         0              270            0              46
  24  Cup             -0.634         0.109          -1.582         0              0              0              62
  25  Tomato          1.289          0.961          -1.571         0              0              0              48
  26  SoapBottle      1.792          0.107          0.311          0              0              0              56
  27  Plate           -2.047         0.512          -1.720         0              0              0              78
  28  Pot             -2.383         0.94           0.583          0              0              0              81
  29  Spatula         0.432          0.927          0.209          0              0              0              47
  30  PaperTowelRoll  -0.394         0.174          0.612          0              90             0              77
  31  Egg             -2.397         0.297          -1.644         0              0              0              78
  32  Lettuce         1.289          1.002          -1.820         0              0              0              48
  33  SaltShaker      1.907          0.908          0.375          0              0              0              63
  34  PepperShaker    1.907          0.908          0.209          0              0              0              63
  35  Apple           -2.614         1.019          0.345          0              90             0              81
  36  ButterKnife     -2.065         0.952          0.255          0              90             0              81
  37  Potato          1.846          0.942          0.292          0              0              0              63
  38  Pan             -0.569         1.328          -1.809         0              270            0              42
  39  DishSponge      0.551          0.773          0.272          0              0              0              44
  40  Spoon           0.701          0.920          -1.715         0              270            0              46
  41  Mug             0.564          0.907          0.209          0              0              0              47
  42  Cabinet         -0.193         1.688          -1.648         0              180            0
  43  StoveBurner     1.360          0.957          0.293          0              180            0
  44  Drawer          0.499          0.792          0.296          0              0              0
  45  Cabinet         0.095          0.400          -1.352         0              180            0
  46  Sink            0.711          0.817          -1.772         0              270            0
  47  CounterTop      0.280          0.947          0.458          0              0              0
  48  CounterTop      -0.680         0.947          -1.654         0              0              0
  49  Drawer          1.825          0.792          0.296          0              0              0
  50  StoveBurner     1.007          0.957          0.561          0              270            0
  51  Drawer          -0.150         0.792          -1.496         0              0              0
  52  Drawer          -0.586         0.792          -1.496         0              0              0
  53  StoveBurner     1.360          0.957          0.561          0              270            0
  54  Drawer          0.024          0.792          0.296          0              0              0
  55  Cabinet         1.079          0.400          -1.349         0              180            0
  56  Cabinet         1.669          0.402          0.151          0              0              0
  57  Cabinet         0.055          0.402          -1.351         0              0              0
  58  Cabinet         -0.180         0.402          0.151          0              0              0
  59  Cabinet         0.729          0.402          0.151          0              0              0
  60  StoveBurner     1.007          0.957          0.293          0              180            0
  61  Drawer          -1.100         0.792          -1.496         0              0              0
  62  Cabinet         -0.396         0.402          -1.351         0              0              0
  63  CounterTop      1.776          0.947          0.458          0              0              0
  64  Cabinet         1.974          1.688          -1.648         0              180            0
  65  Cabinet         -0.820         0.400          -1.349         0              180            0
  66  Toaster         0.305          0.900          0.552          0              180            0
  67  LightSwitch     -2.756         1.307          -0.987         0              90             0
  68  Window          0.582          1.613          -1.967         90             0              0
  69  Window          1.969          1.5            -0.615         90             270            0
  70  Microwave       -1.037         0.900          -1.723         0              0              0
  71  SinkBasin       0.377          0.765          -1.655         0              270            0
  72  CoffeeMachine   0.618          0.900          0.600          0              180            0
  73  StoveKnob       1.246          0.913          0.118          45             180            0
  74  StoveKnob       1.373          0.913          0.118          45             180            0
  75  StoveKnob       0.995          0.913          0.118          45             180            0
  76  StoveKnob       1.126          0.913          0.118          45             180            0
  77  GarbageCan      -0.368         -0.029         0.539          0              90             0
  78  Fridge          -2.134         0.0            -1.690         0              0              0
  79  Faucet          0.549          1.046          -1.833         0              232.527        0
  80  Stool           -1.475         0.000          0.414          1.233          280.375        0
  81  DiningTable     -2.255         -0.004         0.432          0              0              0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: walk straight, to the coffee machine on the left | STEP 2: grab the cup in the coffee machine | STEP 3: turn left, walk to the microwave on the left | STEP 4: open the microwave, heat the cup in it for a while, take the cup out | STEP 5: turn left, walk to the coffee machine | STEP 6: put the cup in the coffee machine | END