Task: Put a cup under a 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           -1.75          0.900          1.25           0              90             0
   1  Potato          0.950          0.866          0.895          0              0              0              47
   2  Potato          -2.744         1.650          2.165          0              90             0              79
   3  ButterKnife     -2.851         0.823          3.331          0              0              0              70
   4  ButterKnife     -0.789         0.900          1.246          0              90             0              88
   5  Spatula         0.875          0.838          2.111          0              90             0              52
   6  Plate           -1.717         0.131          3.675          0              0              0              69
   7  Cup             0.665          0.125          2.198          0              0              0              62
   8  Cup             0.664          0.125          0.903          0              0              0              49
   9  Knife           0.650          0.846          1.028          0              270            0              47
  10  Knife           1.024          0.846          2.631          0              0              0              52
  11  SoapBottle      -1.185         0.900          1.452          0              90             0              88
  12  SoapBottle      -1.317         0.900          1.452          0              90             0              88
  13  Tomato          0.800          0.891          2.631          0              0              0              52
  14  Tomato          0.725          0.891          2.458          0              0              0              52
  15  Bowl            -2.541         1.632          2.722          0              0              0              60
  16  SaltShaker      -1.317         0.896          1.040          0              90             0              88
  17  SaltShaker      -2.117         0.123          3.789          0              0              0              73
  18  Apple           -0.524         0.961          1.143          0              90             0              88
  19  Plate           -1.359         1.687          3.897          0              0              0              75
  20  Fork            0.950          0.823          2.198          0              90             0              52
  21  Bread           -2.519         1.048          2.277          0              90             0              79
  22  Spatula         1.024          0.838          2.545          0              270            0              52
  23  PaperTowelRoll  -0.657         1.004          1.349          0              90             0              88
  24  Potato          -1.486         1.402          3.967          0              180            0              76
  25  SoapBottle      -0.524         0.900          1.555          0              90             0              88
  26  Egg             0.875          0.859          2.458          0              0              0              52
  27  Cup             -1.800         0.697          3.691          0              0              0              82
  28  Pot             0.642          0.850          1.768          0              0              0              74
  29  SaltShaker      0.820          0.122          2.454          0              0              0              54
  30  Pan             -2.667         0.812          3.74           0              137.145        0              70
  31  PepperShaker    0.626          0.122          2.277          0              0              0              62
  32  ButterKnife     0.800          0.823          0.984          0              0              0              47
  33  Tomato          -2.577         1.259          2.389          0              90             0              79
  34  DishSponge      -1.468         0.697          3.857          0              0              0              82
  35  Lettuce         -0.789         0.976          1.555          0              90             0              88
  36  Spoon           0.771          0.692          1.016          0              0              0              58
  37  Apple           0.902          0.085          2.889          0              0              0              81
  38  Knife           1.099          0.846          2.285          0              90             0              52
  39  Mug             -1.109         0.940          1.203          0              0              0              88
  40  Bowl            -2.636         0.765          2.165          0              90             0              79
  41  Drawer          0.729          0.703          2.199          0              0              0
  42  Cabinet         -1.962         1.926          3.733          0              0              0
  43  Cabinet         -2.377         2.014          1.058          0              0              0
  44  Drawer          0.729          0.703          2.532          0              0              0
  45  Cabinet         -2.622         1.925          3.733          0              0              0
  46  StoveBurner     0.913          0.843          1.375          0              0              0
  47  CounterTop      0.864          0.858          0.984          0              0              0
  48  Cabinet         -1.976         1.779          3.734          0              0              0
  49  Cabinet         0.580          0.385          0.819          0              0              0
  50  Cabinet         -2.379         1.408          1.677          0              0              0
  51  Cabinet         -0.419         1.703          3.736          0              0              0
  52  CounterTop      0.864          0.858          2.371          0              0              0
  53  Sink            -1.702         0.726          3.828          0              180            0
  54  Cabinet         0.580          0.385          2.694          0              0              0
  55  Cabinet         -2.379         0.637          1.677          0              0              0
  56  Cabinet         -0.419         0.674          3.736          0              0              0
  57  Cabinet         -2.377         2.014          2.558          0              0              0
  58  Drawer          0.729          0.703          0.980          0              0              0
  59  Drawer          -2.114         0.706          3.657          0              0              0
  60  Cabinet         -2.377         1.691          2.572          0              0              0
  61  Cabinet         -2.951         1.925          3.733          0              0              0
  62  Cabinet         0.580          0.385          2.360          0              0              0
  63  Cabinet         -2.426         0.435          3.421          0              0              0
  64  StoveBurner     0.642          0.843          1.375          0              0              0
  65  Cabinet         -2.377         1.927          1.686          0              0              0
  66  Cabinet         -2.377         2.013          3.177          0              0              0
  67  Cabinet         -1.136         0.385          3.516          0              0              0
  68  StoveBurner     0.913          0.843          1.768          0              0              0
  69  Cabinet         -1.974         0.385          3.516          0              0              0
  70  CounterTop      -2.081         0.858          3.799          0              0              0
  71  Cabinet         -2.426         0.435          3.174          0              0              0
  72  Cabinet         -2.377         2.014          1.693          0              0              0
  73  Cabinet         -1.986         0.385          3.511          0              0              0
  74  StoveBurner     0.642          0.843          1.768          0              0              0
  75  Cabinet         -1.098         1.926          3.729          0              0              0
  76  Microwave       -1.529         1.250          3.881          1.622          180            0
  77  CoffeeMachine   1.000          0.812          2.492          0              270            0
  78  LightSwitch     0.825          1.396          4.082          0              180            0
  79  Fridge          -2.642         0.0            2.134          0              180            0
  80  Window          -1.131         1.673          0.808          90             0              0
  81  GarbageCan      0.931          -0.000         2.918          0              0              0
  82  SinkBasin       -1.601         0.686          3.774          0              0              0
  83  StoveKnob       1.104          1.002          1.886          0              0              70.346
  84  StoveKnob       1.104          1.002          1.733          0              0              70.346
  85  StoveKnob       1.104          1.002          1.321          0              0              70.346
  86  StoveKnob       1.104          1.002          1.481          0              0              70.346
  87  Toaster         -2.247         0.812          3.862          0              180            0
  88  DiningTable     -0.917         -0.000         1.203          0              0              0
  89  Stool           -0.932         0.000          1.404          1.196          21.715         0
  90  Faucet          -1.842         0.809          3.984          0              180            0
  91  Faucet          -1.371         0.809          3.985          0              180            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Look down at the counter directly in front. | STEP 2: Pick the cup up from the counter. | STEP 3: Go left and stand in front of the sink. | STEP 4: Put the cup in the microwave, shut the door and turn it on, open the door and take the cup out and shut the door. | STEP 5: Turn around and stand on the side of the table behind, on the side of the coffee maker. | STEP 6: Put the cup under the coffee pot on the table. | END