Task: Place a heated cup onto a counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          -0.75          0              0              0
   1  Potato          1.738          1.055          -0.676         0              270            0              69
   2  ButterKnife     0.476          0.910          1.180          0              90             0              45
   3  DishSponge      1.800          0.069          1.827          0              270            0              63
   4  DishSponge      1.097          0.910          -1.230         0              90             0              49
   5  Fork            1.032          0.760          -1.544         0              270            0              64
   6  Spoon           1.656          0.912          -1.631         0              180            0              49
   7  Spatula         1.586          0.926          -1.460         0              90             0              49
   8  Spatula         1.245          0.925          1.004          0              270            0              45
   9  Cup             -0.692         0.458          -1.670         0              0              0              72
  10  Cup             -0.790         1.387          -1.559         0              0              0              72
  11  Knife           1.757          0.932          0.911          0              90             353.578        45
  12  Knife           0.220          0.943          0.827          0              90             0              45
  13  SoapBottle      1.501          0.908          1.004          0              90             0              45
  14  SoapBottle      1.800          0.068          1.636          0              270            0              63
  15  Bowl            1.607          0.909          0.415          0              90             0              45
  16  SaltShaker      1.355          0.906          -1.264         0              90             0              49
  17  SaltShaker      1.917          0.905          0.518          0              90             0              45
  18  PepperShaker    1.809          2.131          1.083          0              0              0              52
  19  PepperShaker    1.757          0.905          1.180          0              90             0              45
  20  Mug             0.502          0.940          -1.460         0              0              0              71
  21  Mug             -0.838         1.086          -1.559         0              0              0              72
  22  Apple           0.988          0.967          1.269          0              90             0              45
  23  Plate           1.802          1.647          -0.000         0              0              0              55
  24  SoapBottle      1.733          2.135          0.842          0              0              0              53
  25  Cup             1.656          0.909          -1.288         0              90             0              49
  26  Egg             -0.692         0.495          -1.348         0              0              0              72
  27  Fork            1.726          0.911          -1.374         0              180            0              49
  28  Ladle           1.201          0.926          0.743          3.346          0              346.984        45
  29  Apple           -0.692         0.807          -1.664         0              0              0              72
  30  SaltShaker      1.770          1.628          -0.973         0              0              0              57
  31  Pan             1.281          0.900          1.190          0              0              0              45
  32  Tomato          0.220          0.974          1.269          0              90             0              45
  33  Spatula         0.476          0.925          0.739          0              180            0              45
  34  Potato          -0.295         1.099          -1.382         0              0              0              72
  35  Knife           1.865          0.943          -1.460         0              0              0              49
  36  ButterKnife     0.296          0.9            -1.296         0              14.568         0              49
  37  Bread           1.613          0.977          0.759          0              50.756         0              45
  38  Lettuce         0.856          0.989          1.120          0              270            1.529          45
  39  PepperShaker    1.269          0.906          -1.247         0              90             0              49
  40  Pot             1.807          0.909          -0.320         0              180            0              47
  41  DishSponge      1.796          0.910          -1.717         0              90             0              49
  42  Spoon           0.894          0.761          -1.599         0              90             0              64
  43  Bowl            1.805          1.652          -0.449         0              0              0              56
  44  Mug             1.865          0.906          -1.288         0              90             0              49
  45  CounterTop      0.989          0.946          1.016          0              90             0
  46  StoveBurner     1.807          0.907          0.075          0              180            0
  47  StoveBurner     1.807          0.907          -0.320         0              180            0
  48  StoveBurner     1.543          0.907          -0.320         0              90             0
  49  CounterTop      0.989          0.946          -1.516         0              90             0
  50  Sink            1.100          0.906          -1.599         0              0              0
  51  StoveBurner     1.548          0.907          0.075          0              180            0
  52  Cabinet         1.658          2.299          1.313          0              0              0
  53  Cabinet         1.658          2.299          0.686          0              0              0
  54  Cabinet         1.658          2.049          0.673          0              0              0
  55  Cabinet         1.658          2.059          0.193          0              0              0
  56  Cabinet         1.658          2.059          -0.593         0              0              0
  57  Cabinet         1.658          2.049          -0.606         0              0              0
  58  Cabinet         1.658          2.049          -1.206         0              0              0
  59  Cabinet         1.658          2.049          -1.893         0              0              0
  60  Toaster         0.131          0.900          -1.589         0              0              0
  61  Window          -0.372         1.588          3.349          90             0              0
  62  Window          0.782          1.741          -1.893         90             0              0
  63  GarbageCan      1.770          -0.029         1.685          0              270            0
  64  SinkBasin       1.091          0.740          -1.599         0              0              0
  65  StoveKnob       1.364          0.821          0.086          48.421         270            0
  66  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  67  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  68  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  69  Microwave       1.752          0.900          -0.843         0              270            0
  70  LightSwitch     2.0            1.261          3.094          0              270            0
  71  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  72  Fridge          -0.533         0.0            -1.554         0              0              0
  73  Chair           1.068          0.000          1.752          0              191.622        0
  74  Faucet          1.110          1.138          -1.764         0              270            0
  75  Chair           0.357          0.000          1.710          0              178.899        0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Turn right and go to the microwave | STEP 2: Pick up the green cup that is sitting to the right of the microwave | STEP 3: Open the microwave and place the green cup inside, to the right of the potato then close the door and turn it on. Open the microwave and pick up the green cup and close the door | STEP 4: Turn left and walk to the counter in front of you | STEP 5: Place the cup on the counter in front of the head of lettuce | END