Task: Place a heated cup on the 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           -2.0           0.900          0.0            0              180            0
   1  CreditCard      0.049          1.100          1.519          0              315            0              66
   2  CreditCard      -0.104         1.108          1.826          0              315            0              66
   3  DishSponge      -1.159         0.851          -1.360         0              0              0              83
   4  Kettle          -2.810         1.796          -0.696         0              90             0              45
   5  Pot             -2.800         0.379          0.932          0              90             0              85
   6  Spatula         -1.073         0.866          -1.305         0              90             0              83
   7  Spatula         -2.438         0.926          0.190          0              90             0              65
   8  Cup             -2.445         1.661          -1.435         0              0              0              56
   9  Cup             -1.505         0.848          -1.084         0              0              0              83
  10  Egg             -2.521         0.946          0.106          0              0              0              65
  11  Egg             -2.920         1.708          1.094          0              90             0              85
  12  SoapBottle      -0.070         1.112          1.488          0              315            0              66
  13  Tomato          -2.740         1.523          1.094          0              90             0              85
  14  Tomato          -2.680         0.427          0.609          0              90             0              85
  15  Bowl            -1.627         0.116          -1.068         0              0              0              50
  16  Lettuce         -2.860         0.899          0.690          0              90             0              85
  17  PepperShaker    -0.133         0.907          -1.449         0              0              0              73
  18  Mug             -0.344         0.906          -0.948         0              0              0              73
  19  Apple           -2.740         1.725          0.852          0              90             0              85
  20  Apple           0.920          0.963          -1.449         0              0              0              73
  21  Pan             -2.59          0.9            -1.147         0              0              0              73
  22  Apple           -2.619         1.525          0.932          0              90             0              85
  23  Fork            -0.276         0.901          -1.118         0              0              0              73
  24  Kettle          -0.657         1.663          -1.322         0              90             0              61
  25  CreditCard      -0.767         0.908          -0.948         0              0              0              73
  26  Bread           0.913          1.166          0.806          0              315            0              66
  27  Plate           -1.458         0.843          -1.235         0              0              0              83
  28  SoapBottle      -2.786         0.038          1.396          0              0              0              84
  29  Spatula         0.144          1.126          1.422          0              45             0              66
  30  Lettuce         0.842          0.990          -1.115         0              0              0              73
  31  SaltShaker      -2.695         0.9            -0.132         0              0              0              65
  32  Tomato          0.509          1.161          0.748          0              315            0              66
  33  PepperShaker    -2.354         1.658          -1.397         0              0              0              56
  34  ButterKnife     -2.222         0.9            -0.997         0              323.977        0              73
  35  Pot             -2.622         0.928          -0.396         0              0              0              67
  36  Potato          -0.598         0.933          -1.119         0              47.530         0              73
  37  DishSponge      -2.585         0.746          -0.027         0              0              0              71
  38  Egg             -2.699         0.071          1.571          0              0              0              84
  39  Spoon           -0.157         0.9            -1.015         0              0              0              73
  40  Knife           0.060          1.106          1.587          270            209.997        0              66
  41  Cup             -2.920         1.472          0.690          0              90             0              85
  42  Mug             -0.939         0.112          -1.142         0              90             0              46
  43  Bowl            0.317          1.110          1.248          0              315            0              66
  44  Cabinet         -2.647         2.075          -0.875         0              0              0
  45  Cabinet         -2.647         2.075          -0.234         0              0              0
  46  Cabinet         -0.824         0.469          -0.907         0              0              0
  47  Cabinet         -1.764         2.009          -1.197         0              0              0
  48  Cabinet         -1.834         2.009          -1.197         0              0              0
  49  Cabinet         -1.850         0.389          -0.897         0              0              0
  50  Cabinet         -1.801         0.469          -0.907         0              0              0
  51  Cabinet         1.115          2.009          -1.197         0              0              0
  52  Cabinet         0.235          2.009          -1.197         0              0              0
  53  Cabinet         1.125          0.470          -0.897         0              0              0
  54  Cabinet         -2.387         0.389          0.375          0              0              0
  55  Cabinet         0.484          0.389          -0.897         0              0              0
  56  Cabinet         -2.625         2.009          -1.197         0              0              0
  57  Cabinet         -2.647         2.009          -0.945         0              0              0
  58  Cabinet         -2.647         2.200          1.664          0              0              0
  59  Cabinet         -2.647         2.009          0.364          0              0              0
  60  Cabinet         0.164          2.009          -1.197         0              0              0
  61  Cabinet         -0.765         2.009          -1.197         0              0              0
  62  Cabinet         -0.834         2.009          -1.197         0              0              0
  63  Cabinet         -2.647         2.200          0.434          0              0              0
  64  StoveBurner     -2.622         0.886          -0.711         0              0              0
  65  CounterTop      -2.699         0.946          0.106          0              0              0
  66  CounterTop      0.908          1.147          0.788          0              315            0
  67  StoveBurner     -2.622         0.886          -0.396         0              0              0
  68  Drawer          -2.026         0.779          -1.082         0              0              0
  69  Sink            -1.328         0.916          -1.225         0              0              0
  70  StoveBurner     -2.822         0.886          -0.711         0              0              0
  71  Drawer          -2.572         0.779          0.099          0              0              0
  72  StoveBurner     -2.822         0.886          -0.396         0              0              0
  73  CounterTop      0.071          0.946          -1.199         0              0              0
  74  Drawer          0.254          0.779          -1.082         0              0              0
  75  LightSwitch     -1.167         1.307          3.0            0              180            0
  76  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  77  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  78  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  79  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  80  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  81  Window          0.321          1.449          3.088          90             0              0
  82  Toaster         -2.823         0.899          0.246          0              90             0
  83  SinkBasin       -1.344         0.838          -1.25          0              0              0
  84  GarbageCan      -2.757         1.886          1.466          0              0              0
  85  Fridge          -2.855         0.0            0.851          0              0              0
  86  Microwave       0.283          0.900          -1.331         0              0              0
  87  Stool           1.541          0.010          1.328          0              45             0
  88  Stool           0.983          0.010          1.793          0              47.459         0
  89  Faucet          -1.392         1.136          -1.399         0              270            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: turn to the left and take a few steps and turn to the right and go to the sink | STEP 2: pick up the cup from the sink  | STEP 3: turn to the left and go to the front of the microwave and turn to the right facing the microwave | STEP 4: put the cup in the microwave and turn on the microwave and heat the cup and take out the cup from the microwave when done heating | STEP 5: turn to the right and take a few steps and turn to the left facing the counter | STEP 6: put the cup right of the white cup on the counter top | END