Task: Place a chilled cup containing a sponge in the microwave.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.908          1.0            0              0              0
   1  DishSponge      -1.105         0.748          2.830          0              0              0              47
   2  DishSponge      1.131          0.115          1.157          0              0              0              87
   3  ButterKnife     -1.197         0.748          3.015          0              0              0              47
   4  ButterKnife     -1.123         0.912          -0.430         0              0              0              72
   5  Glassbottle     -1.356         2.154          0.763          0              0              0              65
   6  WineBottle      1.128          0.912          0.139          0              0              0              66
   7  Spoon           1.200          0.887          2.584          0              270            0              98
   8  Fork            1.117          0.886          2.369          0              180            0              98
   9  Spatula         0.103          0.773          -0.612         0              0              0              93
  10  Spatula         1.367          0.901          2.800          0              0              0              98
  11  Pot             0.502          0.939          -0.740         0              90             0              73
  12  Cup             0.086          0.115          -0.533         0              0              0              61
  13  Plate           1.365          0.912          0.706          0              0              0              66
  14  Knife           1.117          0.908          2.692          0              0              0              98
  15  Tomato          -0.144         0.808          -0.612         0              0              0              93
  16  Bowl            -1.263         1.419          0.883          0              90             0              86
  17  Bowl            -1.206         0.749          1.092          0              90             0              86
  18  Bread           -1.320         1.700          1.188          0              90             0              86
  19  SaltShaker      1.049          0.907          -0.428         0              0              0              66
  20  PepperShaker    0.250          0.112          -0.402         0              0              0              60
  21  Bread           1.367          0.949          2.369          0              0              0              98
  22  Glassbottle     1.293          1.656          -0.453         0              0              0              48
  23  Fork            -0.813         0.912          -0.509         0              0              0              72
  24  Kettle          -1.357         0.739          3.024          0              240.000        0              47
  25  Tomato          -1.290         0.799          2.644          0              0              0              47
  26  Plate           -1.220         0.117          0.165          0              180            0              69
  27  CellPhone       1.127          0.773          0.403          0              0              0              80
  28  Lettuce         -1.290         0.820          2.830          0              0              0              47
  29  Pot             0.802          0.939          -0.740         0              90             0              75
  30  SoapBottle      -1.135         0.913          -0.902         0              0              0              72
  31  WineBottle      -1.206         0.752          1.302          0              90             0              86
  32  Spatula         1.200          0.901          2.153          0              0              0              98
  33  Bowl            1.444          0.909          0.139          0              0              0              66
  34  Apple           0.103          0.818          -0.533         0              0              0              93
  35  Cup             1.034          0.885          2.584          0              0              0              98
  36  Knife           1.365          0.933          0.422          0              0              0              66
  37  Egg             -1.427         1.049          -0.057         0              90             0              92
  38  SaltShaker      1.034          0.882          2.153          0              0              0              98
  39  PepperShaker    1.200          0.882          2.153          0              0              0              98
  40  Potato          -1.162         0.386          0.988          0              90             0              86
  41  ButterKnife     1.128          0.911          0.422          0              0              0              66
  42  DishSponge      0.127          0.116          -0.446         0              0              0              61
  43  Pan             -1.332         0.9            -0.699         0              345.0          0              72
  44  Spoon           -1.012         0.750          2.087          0              0              0              47
  45  SprayBottle     1.049          0.910          0.139          0              0              0              66
  46  Mug             1.215          0.943          -0.633         0              320.314        0              85
  47  DiningTable     -1.182         0.006          2.414          0              90             0
  48  Cabinet         1.184          2.059          0.375          0              0              0
  49  Cabinet         1.184          2.059          -0.635         0              0              0
  50  Cabinet         0.591          2.309          -0.645         0              0              0
  51  Cabinet         -0.574         2.059          -0.644         0              0              0
  52  Cabinet         -1.103         2.059          -0.644         0              0              0
  53  Cabinet         -1.185         2.059          -0.331         0              0              0
  54  Cabinet         -1.185         2.059          -0.281         0              0              0
  55  Cabinet         -1.185         2.059          0.375          0              0              0
  56  Cabinet         1.184          2.309          1.174          0              0              0
  57  Cabinet         1.184          2.309          0.424          0              0              0
  58  Cabinet         0.988          0.402          0.581          0              0              0
  59  Cabinet         0.988          0.402          0.531          0              0              0
  60  Cabinet         0.988          0.402          -0.178         0              0              0
  61  Cabinet         0.335          0.402          -0.348         0              0              0
  62  Cabinet         -0.374         0.402          -0.348         0              0              0
  63  Cabinet         0.988          0.402          1.231          0              0              0
  64  Cabinet         -1.185         2.309          1.374          0              0              0
  65  Cabinet         -1.185         2.309          0.424          0              0              0
  66  CounterTop      1.274          0.947          0.064          0              0              0
  67  Drawer          1.116          0.792          -0.015         0              0              0
  68  Drawer          -1.116         0.792          0.210          0              180            0
  69  Cabinet         -0.990         0.402          0.374          0              180            0
  70  Drawer          -1.116         0.792          -0.170         0              180            0
  71  Cabinet         -0.990         0.402          -0.335         0              180            0
  72  CounterTop      -1.001         0.947          -0.669         0              0              0
  73  StoveBurner     0.502          0.932          -0.740         0              90             0
  74  StoveBurner     0.801          0.932          -0.473         0              0              0
  75  StoveBurner     0.801          0.932          -0.740         0              90             0
  76  Drawer          1.116          0.792          1.081          0              0              0
  77  Sink            -0.013         0.912          -0.615         0              0              0
  78  Drawer          1.116          0.792          0.732          0              0              0
  79  StoveBurner     0.502          0.932          -0.469         0              0              0
  80  Drawer          1.116          0.792          0.367          0              0              0
  81  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  82  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  83  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  84  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  85  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  86  Fridge          -1.300         0.008          0.987          0              90             0
  87  GarbageCan      1.296          -0.024         1.465          0              0              0
  88  Window          -0.012         1.641          -0.972         90             0              0
  89  Window          1.598          1.646          2.489          90             270            0
  90  Toaster         1.356          0.900          1.044          0              270            0
  91  LightSwitch     0.118          1.353          3.799          0              180            0
  92  Microwave       -1.343         0.900          0.053          0              90             0
  93  SinkBasin       -0.029         0.748          -0.612         0              0              0
  94  Faucet          -0.026         0.927          -0.808         0              0              0
  95  Shelf           -1.182         0.127          2.414          0              90             0
  96  Stool           1.140          0.007          3.262          1.206          20.753         0
  97  Shelf           -1.182         0.435          2.414          0              90             0
  98  DiningTable     1.169          0.014          2.569          0              0              1.896
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: Turn around and move toward the sink next to the range. | STEP 2: Open the cabinet beneath the sink that is closest to the range, pick up the cup from the cabinet containing the green sponge, then close the cabinet door.  | STEP 3: Turn around and move toward the door then turn left and move toward the refrigerator. | STEP 4: Open the refrigerator door, place the cup containing the sponge on the middle shelf to the left of the bowl, allow the cup to cool, open the refrigerator door, pick up the cup containing the sponge, and close the door. | STEP 5: Turn left and move to the dishwasher next to the sink then turn right and face the microwave. | STEP 6: Place the cup containing the sponge on the plate in the microwave to the right of the egg and close the microwave door. | END