Task: Rinse a cup and microwave it

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          0.25           0              0              0
   1  Pan             1.543          0.909          -0.320         0              90             0              46
   2  Potato          -0.790         1.429          -1.629         0              0              0              70
   3  Potato          0.732          0.950          0.739          0              90             0              43
   4  DishSponge      0.476          0.910          1.269          0              90             0              43
   5  Egg             0.926          0.946          -1.213         0              90             0              47
   6  Cup             1.842          1.653          -0.098         0              0              0              53
   7  Cup             -0.256         1.057          -1.382         0              0              0              70
   8  Plate           1.805          2.138          0.842          0              0              0              51
   9  Knife           0.732          0.943          1.004          0              90             0              43
  10  SoapBottle      1.805          1.652          -0.401         0              0              0              54
  11  Tomato          -0.741         1.155          -1.524         0              0              0              70
  12  Bowl            1.865          0.910          -1.460         0              90             0              47
  13  SaltShaker      1.917          0.905          0.518          0              90             0              43
  14  SaltShaker      1.656          0.906          -1.717         0              90             0              47
  15  PepperShaker    0.220          0.905          0.915          0              90             0              43
  16  PepperShaker    1.769          1.648          -0.257         0              0              0              54
  17  Mug             -0.838         0.741          -1.629         0              0              0              70
  18  Mug             -0.644         1.383          -1.559         0              0              0              70
  19  Apple           0.553          0.968          -1.263         0              90             0              47
  20  Apple           1.835          1.072          -0.676         0              270            0              67
  21  Plate           0.220          0.912          1.092          0              90             0              43
  22  SoapBottle      1.77           0.068          1.636          0              270            0              61
  23  Cup             1.808          1.637          0.543          0              0              0              52
  24  Egg             1.757          0.945          1.180          0              90             0              43
  25  Fork            1.205          0.752          -1.725         0              0              0              62
  26  Ladle           1.201          0.926          0.743          3.353          0              346.984        43
  27  Apple           1.726          0.968          -1.802         0              90             0              47
  28  SaltShaker      1.878          2.131          1.121          0              0              0              50
  29  Pan             0.476          0.910          1.004          0              270            0              43
  30  Tomato          -0.838         1.746          -1.524         0              0              0              70
  31  Spatula         1.607          0.925          0.311          0              180            0              43
  32  Potato          -0.644         0.790          -1.594         0              0              0              70
  33  Knife           1.762          0.943          0.363          0              180            0              43
  34  ButterKnife     1.245          0.910          1.092          0              90             0              43
  35  Bread           1.501          0.987          1.269          0              90             0              43
  36  Lettuce         -0.741         0.560          -1.412         0              0              0              70
  37  PepperShaker    1.796          0.906          -1.288         0              90             0              47
  38  Pot             1.548          0.909          0.075          0              180            0              49
  39  DishSponge      1.805          1.634          -1.419         0              0              0              56
  40  Spoon           1.165          0.750          -1.494         0              342.866        0              62
  41  Bowl            1.684          0.909          0.467          0              90             0              43
  42  Mug             0.502          0.940          -1.460         0              0              0              69
  43  CounterTop      0.989          0.946          1.016          0              90             0
  44  StoveBurner     1.807          0.907          0.075          0              180            0
  45  StoveBurner     1.807          0.907          -0.320         0              180            0
  46  StoveBurner     1.543          0.907          -0.320         0              90             0
  47  CounterTop      0.989          0.946          -1.516         0              90             0
  48  Sink            1.100          0.906          -1.599         0              0              0
  49  StoveBurner     1.548          0.907          0.075          0              180            0
  50  Cabinet         1.658          2.299          1.313          0              0              0
  51  Cabinet         1.658          2.299          0.686          0              0              0
  52  Cabinet         1.658          2.049          0.673          0              0              0
  53  Cabinet         1.658          2.059          0.193          0              0              0
  54  Cabinet         1.658          2.059          -0.593         0              0              0
  55  Cabinet         1.658          2.049          -0.606         0              0              0
  56  Cabinet         1.658          2.049          -1.206         0              0              0
  57  Cabinet         1.658          2.049          -1.893         0              0              0
  58  Toaster         0.131          0.900          -1.589         0              0              0
  59  Window          -0.372         1.588          3.349          90             0              0
  60  Window          0.782          1.741          -1.893         90             0              0
  61  GarbageCan      1.770          -0.029         1.685          0              270            0
  62  SinkBasin       1.091          0.740          -1.599         0              0              0
  63  StoveKnob       1.364          0.821          0.086          48.421         270            0
  64  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  65  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  66  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  67  Microwave       1.752          0.900          -0.843         0              270            0
  68  LightSwitch     2.0            1.261          3.094          0              270            0
  69  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  70  Fridge          -0.533         0.0            -1.554         0              0              0
  71  Chair           1.068          0.000          1.752          0              191.622        0
  72  Faucet          1.110          1.138          -1.764         0              270            0
  73  Chair           0.357          0.000          1.710          0              178.899        0
  74  NorthWall
  75  EastWall
  76  SouthWall
  77  WestWall

Plan:
STEP 1: Turn around and face to your left | STEP 2: Open a kitchen cabinet and grab a green cup out of it | STEP 3: Turn right, to face the sink | STEP 4: Rinse the cup in the sink and pick the cup up out of the sink | STEP 5: Turn to face your left | STEP 6: Open the microwave, place the cup in it and turn it on | END