Task: Take a cup from the cabinet, microwave it for three seconds, put cup on counter top.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.899          1.75           0              0              0
   1  Pan             -2.924         0.930          1.712          0              180            0              74
   2  Pan             -4.411         0.923          5.418          0              270            0              77
   3  Pencil          -3.481         0.747          5.162          0              180            0              68
   4  Potato          -1.693         0.956          1.951          0              0              0              59
   5  Potato          -4.184         0.956          3.863          0              90             0              77
   6  DishSponge      -0.503         0.746          6.489          0              270            0              97
   7  ButterKnife     -4.132         0.755          2.324          0              0              0              57
   8  Fork            -0.258         0.925          5.603          0              180            0              62
   9  Fork            -4.517         0.924          3.199          0              90             0              77
  10  Spoon           -3.255         0.924          5.412          0              90             0              77
  11  Spoon           -1.860         0.924          1.648          0              0              0              59
  12  Cup             -0.565         0.923          6.261          0              0              0              62
  13  Cup             -3.807         1.457          5.511          0              90             0              81
  14  Egg             -3.675         0.104          6.375          0              270            0              103
  15  Egg             -4.159         0.826          3.410          0              270            0              109
  16  Plate           -1.943         0.924          1.951          0              0              0              59
  17  Knife           -0.411         0.954          5.603          0              0              0              62
  18  Knife           -0.258         0.954          4.944          0              0              0              62
  19  Tomato          -4.159         0.848          3.222          0              270            0              109
  20  Tomato          -4.031         0.980          2.026          0              0              0              77
  21  SaltShaker      -3.472         0.743          1.957          0              0              0              83
  22  Lettuce         -0.181         1.020          4.944          0              0              0              62
  23  Lettuce         -1.777         1.018          1.724          0              0              0              59
  24  Bread           -3.859         1.003          1.799          0              0              0              77
  25  Apple           -3.639         0.122          6.292          0              270            0              103
  26  Apple           -3.733         0.976          5.336          0              90             0              77
  27  Egg             -4.084         0.826          3.347          0              270            0              109
  28  Apple           -3.748         0.122          6.457          0              270            0              103
  29  Knife           -4.26          0.953          3.863          0              90             0              77
  30  Potato          -0.218         1.719          3.673          0              270            0              110
  31  Fork            -3.733         0.924          5.489          0              90             0              77
  32  Bowl            -0.258         0.922          4.615          0              0              0              62
  33  Plate           -0.301         1.581          3.470          0              270            0              110
  34  Lettuce         -0.295         1.165          3.231          0              270            0              110
  35  Bread           -0.295         1.150          3.602          0              270            0              110
  36  Tomato          -3.494         0.980          5.489          0              90             0              77
  37  WineBottle      -3.340         0.924          2.026          0              0              0              77
  38  Spatula         -1.610         0.938          1.724          0              90             0              59
  39  PaperTowelRoll  -3.784         0.172          6.292          0              270            0              103
  40  Cup             -0.348         1.069          3.974          0              270            0              110
  41  Pencil          -1.777         0.923          1.8            0              0              0              75
  42  Pan             -2.469         0.930          1.712          0              270            0              92
  43  Pot             -0.396         0.912          5.933          0              0              0              62
  44  SaltShaker      -0.284         2.132          6.600          0              180            0              61
  45  SoapBottle      -3.859         0.923          1.573          0              0              0              77
  46  PepperShaker    -4.312         0.919          2.300          0              0              0              77
  47  ButterKnife     -4.184         0.923          4.900          0              90             0              77
  48  DishSponge      -2.109         0.923          1.648          0              0              0              59
  49  Spoon           -4.108         0.924          4.381          0              90             0              77
  50  Mug             -0.409         0.955          6.557          0              270            0              98
  51  Cabinet         -3.203         1.931          1.777          0              0              0
  52  Cabinet         -3.187         0.390          2.089          0              0              0
  53  Cabinet         -0.637         0.387          6.882          0              180            0
  54  Drawer          -3.797         0.781          1.961          0              0              0
  55  Cabinet         -3.036         0.387          5.029          0              90             0
  56  Drawer          -0.509         0.775          5.268          0              270            0
  57  Drawer          -4.125         0.798          2.499          0              0              0
  58  Cabinet         -0.331         2.249          4.308          0              180            0
  59  CounterTop      -1.872         0.958          1.799          0              0              0
  60  StoveBurner     -2.924         0.924          2.012          0              0              0
  61  Cabinet         -0.331         2.249          6.806          0              180            0
  62  CounterTop      -0.345         0.960          5.603          0              0              0
  63  Cabinet         -3.039         1.935          5.321          0              90             0
  64  Cabinet         -3.922         0.397          2.088          0              0              0
  65  StoveBurner     -2.467         0.924          2.012          0              0              0
  66  Cabinet         -0.331         2.249          5.505          0              180            0
  67  Drawer          -0.509         0.775          4.617          0              270            0
  68  Drawer          -3.509         0.777          5.157          0              180            0
  69  Cabinet         -3.961         0.388          2.878          0              0              0
  70  Cabinet         -3.961         0.388          4.342          0              0              0
  71  Cabinet         -0.637         0.387          5.582          0              180            0
  72  Cabinet         -0.637         0.388          4.299          0              180            0
  73  Cabinet         -0.637         0.388          5.599          0              180            0
  74  StoveBurner     -2.924         0.924          1.712          0              180            0
  75  Drawer          -1.859         0.775          1.961          0              0              0
  76  Cabinet         -0.331         2.249          5.609          0              180            0
  77  CounterTop      -4.260         0.958          4.943          0              90             0
  78  Cabinet         -4.284         1.931          2.226          0              0              0
  79  Cabinet         -0.331         2.249          3.010          0              180            0
  80  Drawer          -3.801         0.777          5.157          0              180            0
  81  Cabinet         -4.112         1.935          5.321          0              90             0
  82  Cabinet         -3.968         0.388          3.662          0              0              0
  83  Drawer          -3.418         0.777          1.961          0              0              0
  84  Drawer          -4.090         0.777          4.661          0              90             0
  85  Faucet          -4.441         0.909          3.288          270            0              0
  86  Cabinet         -0.331         2.249          4.207          0              180            0
  87  Cabinet         -3.961         0.388          2.119          0              0              0
  88  Drawer          -0.509         0.775          5.920          0              270            0
  89  Drawer          -3.193         0.777          5.157          0              180            0
  90  Cabinet         -3.968         0.388          2.894          0              0              0
  91  Cabinet         -3.667         0.387          5.029          0              90             0
  92  StoveBurner     -2.469         0.924          1.712          0              270            0
  93  Cabinet         -1.539         0.388          2.090          0              0              0
  94  Sink            -4.190         0.921          3.279          0              0              0
  95  Cabinet         -3.641         0.387          5.029          0              90             0
  96  Cabinet         -1.583         1.931          1.777          0              0              0
  97  Drawer          -0.509         0.775          6.568          0              270            0
  98  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  99  StoveKnob       -2.347         1.095          1.560          288.012        180            180
 100  StoveKnob       -2.788         1.095          1.560          288.012        180            180
 101  StoveKnob       -2.965         1.095          1.560          288.012        180            180
 102  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 103  GarbageCan      -3.711         -0.030         6.376          0              270            0
 104  Toaster         -3.578         0.912          1.763          0              0              0
 105  Curtains        -4.522         2.252          3.391          90             90             0
 106  Window          -4.868         1.629          3.309          90             270            0
 107  Microwave       -2.693         1.430          1.689          0              0              0
 108  LightSwitch     -1.588         1.169          1.506          0              0              0
 109  SinkBasin       -4.196         0.780          3.276          0              270            0
 110  Fridge          -0.324         -0.001         3.602          0              0              0
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: Turn left and go to the counter facing the two apples. | STEP 2: Open the left cabinet door, pull out the cup in the cabinet, close the cabinet door. | STEP 3: Turn around, take the cup to the microwave above the stove. | STEP 4: Open the microwave door. Put the cup inside the microwave. Close the microwave door. Set the microwave for 3 seconds and heat the cup. Open the microwave door. Take out the cup. Close the microwave door. | STEP 5: Turn left and go to the end of the counter top on the left side of the stove. | STEP 6: Put the cup on the counter top to the right of the blue plate. | END