Task: Microwave a cup prior to putting it away

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.914          1.75           0              0              0
   1  Potato          -1.857         0.821          3.662          0              90             0              72
   2  Potato          -1.523         0.923          0.049          0              90             0              78
   3  WineBottle      -1.259         0.892          -0.053         0              90             0              78
   4  Kettle          -3.148         0.966          2.374          0              0              0              45
   5  Spatula         -3.176         0.910          3.663          358.857        0              0              42
   6  Spatula         -2.402         0.930          4.106          0              0              0              42
   7  Fork            -3.368         0.916          1.189          0              0              0              51
   8  Fork            -1.127         0.892          0.255          0              90             0              78
   9  Pot             -3.424         0.966          2.374          0              0              0              48
  10  Egg             -1.523         0.926          0.152          0              90             0              78
  11  Knife           -1.127         0.915          0.049          0              180            0              78
  12  Bowl            -1.666         0.788          3.7            0              0              0              72
  13  SaltShaker      -2.840         0.076          3.739          0              0              0              54
  14  PepperShaker    -3.068         0.742          1.587          0              0              0              43
  15  Lettuce         -0.323         1.072          3.926          0              180            0              68
  16  Bread           -1.259         0.972          0.152          0              90             0              78
  17  Apple           -0.994         0.951          0.152          0              90             0              78
  18  Apple           -1.127         0.951          -0.053         0              90             0              78
  19  Egg             -1.921         0.824          3.737          0              0              0              72
  20  Knife           -3.463         0.939          1.357          0              0              0              51
  21  Fork            -3.272         0.916          3.008          0              90             0              42
  22  Bread           -0.673         1.067          3.926          0              180            0              68
  23  Potato          -1.655         0.923          0.461          0              90             0              78
  24  Plate           -3.005         0.905          3.677          0              0              0              42
  25  Pot             -3.424         0.966          1.971          0              0              0              50
  26  Kettle          -1.391         0.892          0.358          0              90             0              78
  27  WineBottle      -1.256         0.087          3.724          0              270            0              74
  28  Bowl            -0.323         1.272          4.097          0              180            0              68
  29  Tomato          -1.655         0.960          0.255          0              90             0              78
  30  Cup             -3.368         0.915          1.440          0              0              0              51
  31  Spatula         -3.155         0.760          1.510          0              270            0              43
  32  SoapBottle      -1.127         0.891          0.564          0              90             0              78
  33  Lettuce         -1.759         0.974          0.085          0              0              0              78
  34  Pan             -2.614         0.902          3.620          0              0              0              42
  35  Apple           -0.556         0.782          3.817          0              180            0              68
  36  SaltShaker      -3.068         0.742          1.202          0              0              0              43
  37  PepperShaker    -1.787         0.887          0.255          0              90             0              78
  38  ButterKnife     -3.176         0.915          1.357          0              0              0              51
  39  DishSponge      -3.231         0.083          1.200          0              0              0              61
  40  Spoon           -3.272         0.916          1.607          0              0              0              51
  41  Mug             -3.492         1.989          1.835          0              0              0              56
  42  CounterTop      -3.381         0.950          3.335          0              0              0
  43  Drawer          -3.121         0.775          1.357          0              0              0
  44  Drawer          -3.121         0.777          2.916          0              0              0
  45  StoveBurner     -3.148         0.958          2.374          0              0              0
  46  Sink            -1.797         0.917          3.660          0              0              0
  47  Cabinet         -1.421         0.388          3.459          0              0              0
  48  StoveBurner     -3.424         0.958          2.374          0              0              0
  49  Cabinet         -3.365         1.931          2.676          0              0              0
  50  StoveBurner     -3.424         0.958          1.971          0              0              0
  51  CounterTop      -3.381         0.951          1.356          0              0              0
  52  Drawer          -3.121         0.781          3.295          0              0              0
  53  Cabinet         -2.205         0.388          3.459          0              0              0
  54  Cabinet         -2.963         0.388          3.459          0              0              0
  55  Cabinet         -2.992         0.388          2.683          0              0              0
  56  Cabinet         -3.352         2.205          1.715          0              0              0
  57  Cabinet         -3.352         2.205          2.653          0              0              0
  58  Cabinet         -2.189         0.388          3.466          0              0              0
  59  Cabinet         -3.365         1.931          3.963          0              0              0
  60  Cabinet         -3.365         1.931          1.056          0              0              0
  61  Cabinet         -2.992         0.388          1.037          0              0              0
  62  StoveBurner     -3.143         0.958          1.971          0              0              0
  63  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  64  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  65  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  66  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  67  Toaster         -2.654         0.902          4.064          0              180            0
  68  Fridge          -0.439         0.014          3.996          0              0              0
  69  LightSwitch     0.25           1.383          2.085          0              270            0
  70  Window          -1.430         1.338          -0.347         90             0              0
  71  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  72  SinkBasin       -1.802         0.778          3.700          0              0              0
  73  Microwave       -3.484         1.430          2.182          0              90             0
  74  GarbageCan      -1.184         -0.020         3.794          0              270            0
  75  Blinds          -1.404         2.092          -0.296         0              0              0
  76  Stool           -1.373         0.014          1.048          1.214          20.754         0
  77  Faucet          -1.788         0.903          3.931          270            90             0
  78  DiningTable     -1.399         0.010          0.238          0              0              0
  79  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn to the left, walk to the counter to the left of the stove | STEP 2: Pick up the glass that's on the counter | STEP 3: Turn around, walk the cup to the microwave on the left | STEP 4: Open the microwave, place the cup inside, heat the cut for some time, open the microwave and remove the cup | STEP 5: Open the cupboard above the microwave | STEP 6: Place the glass inside the cupboard | END