Task: Heat the white cup from table in the microwave, put it on the shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.5           0.900          0.25           0              0              0
   1  Pan             1.328          0.957          -1.420         0              180            0              64
   2  Potato          0.663          0.948          -1.267         0              0              0              60
   3  Potato          0.079          0.839          2.251          0              180            0              85
   4  Book            3.741          0.549          1.449          0              270            0              83
   5  Book            -2.912         0.871          3.685          0              135            0              62
   6  ButterKnife     -2.152         0.874          3.221          0              270            0              62
   7  Kettle          0.124          0.931          -1.718         0              270            0              57
   8  Spatula         -1.649         0.734          -1.073         0              90             0              75
   9  Spatula         -3.165         0.893          3.147          0              270            0              62
  10  Pot             0.974          0.957          -1.688         0              180            0              59
  11  Fork            -0.367         0.708          -1.573         0              270            0              89
  12  Egg             0.079          0.414          2.083          0              180            0              85
  13  Cup             1.263          1.759          -1.596         0              0              0              84
  14  Plate           -2.793         0.882          2.878          0              225            0              62
  15  Plate           0.307          0.807          2.023          0              180            0              85
  16  Knife           -1.961         0.934          -0.939         0              0              0              60
  17  Knife           -3.017         0.896          2.863          0              225            0              62
  18  SoapBottle      -2.072         0.912          -0.614         0              0              0              60
  19  SoapBottle      -0.897         0.193          2.213          0              90             0              90
  20  Tomato          -0.871         0.240          2.058          0              90             0              90
  21  Tomato          -2.143         0.922          3.021          0              135            0              62
  22  SaltShaker      0.521          0.714          -1.343         0              0              0              77
  23  SaltShaker      -2.081         0.715          -1.372         0              0              0              79
  24  PepperShaker    0.599          0.714          -1.410         0              0              0              77
  25  Bread           -2.510         0.961          2.715          0              0              0              62
  26  Apple           -2.912         0.933          2.758          0              225            0              62
  27  Apple           -2.490         0.933          3.221          0              270            0              62
  28  Book            -1.649         0.116          -0.766         0              0              0              65
  29  Fork            -1.269         0.912          -1.267         0              0              0              60
  30  Tomato          -0.035         0.436          2.025          0              180            0              85
  31  Egg             -0.035         1.169          2.127          0              180            0              85
  32  Kettle          0.571          0.913          -1.776         0              0              0              60
  33  Vase            -1.054         1.655          -1.750         0              0              0              72
  34  Cup             0.069          0.927          -1.356         0              270            0              57
  35  WineBottle      -0.459         0.122          -1.452         0              0              0              69
  36  Plate           -0.263         1.148          2.167          0              180            0              85
  37  Spatula         0.289          0.945          -1.646         0              90             0              57
  38  Potato          -0.348         0.948          -1.221         0              0              0              60
  39  Pot             -2.353         0.877          3.632          0              225            0              62
  40  Knife           -1.583         0.741          -1.073         0              90             0              75
  41  SaltShaker      0.482          0.714          -1.410         0              0              0              77
  42  PepperShaker    -1.576         0.115          -1.066         0              0              0              65
  43  Lettuce         -2.321         0.939          2.999          0              270            0              62
  44  ButterKnife     -3.122         0.874          2.968          0              225            0              62
  45  Bread           -0.833         0.995          -1.471         0              0              0              60
  46  Vase            0.633          0.117          -1.408         0              0              0              67
  47  DishSponge      -2.001         1.657          -1.747         0              0              0              56
  48  Apple           0.079          1.627          1.981          0              180            0              85
  49  Pan             0.972          0.959          -1.426         0              0              0              78
  50  Spoon           0.014          0.929          -1.501         0              270            0              57
  51  SoapBottle      -2.659         0.875          2.715          0              0              0              62
  52  Mug             -1.961         0.907          -0.288         0              0              0              60
  53  Statue          -1.627         0.919          -1.265         0              0              0              60
  54  Statue          3.668          0.540          1.800          0              0              0              83
  55  Bowl            1.651          0.908          -1.346         0              0              0              80
  56  Cabinet         -2.171         2.009          -1.538         0              0              0
  57  Sink            0.024          0.771          -1.708         0              270            0
  58  Cabinet         1.444          2.259          -1.542         0              0              0
  59  StoveBurner     0.974          0.957          -1.688         0              180            0
  60  CounterTop      -1.866         0.947          -0.614         0              0              0
  61  Cabinet         -2.217         0.373          -1.874         0              0              0
  62  DiningTable     -2.663         0.002          3.208          0              0              0
  63  StoveBurner     1.328          0.957          -1.688         0              180            0
  64  StoveBurner     1.328          0.957          -1.420         0              180            0
  65  Cabinet         -1.478         0.373          -1.235         0              0              0
  66  Cabinet         1.775          0.372          -1.242         0              0              0
  67  Cabinet         0.774          0.372          -1.242         0              0              0
  68  Cabinet         0.375          0.372          -1.242         0              0              0
  69  Cabinet         -0.574         0.372          -1.238         0              0              0
  70  Cabinet         1.775          2.009          -1.542         0              0              0
  71  Cabinet         0.524          2.009          -1.542         0              0              0
  72  Cabinet         -0.714         2.009          -1.542         0              0              0
  73  Cabinet         -1.671         2.009          -1.538         0              0              0
  74  Cabinet         0.854          2.259          -1.542         0              0              0
  75  Drawer          -1.636         0.683          -0.930         0              0              0
  76  Drawer          1.650          0.682          -1.396         0              0              0
  77  Drawer          0.600          0.682          -1.396         0              0              0
  78  StoveBurner     0.974          0.957          -1.419         0              180            0
  79  Drawer          -2.062         0.683          -1.579         0              0              0
  80  CounterTop      1.645          0.945          -1.527         0              0              0
  81  Shelf           3.725          0.880          1.671          0              90             0
  82  LightSwitch     2.830          1.266          -0.748         0              0              0
  83  Shelf           3.726          0.552          1.671          0              90             0
  84  Microwave       1.150          1.655          -1.614         0              0              0
  85  Fridge          -0.035         0.0            2.177          0              180            0
  86  Window          -0.115         1.802          -1.896         90             0              0
  87  Window          -4.009         1.799          0.310          90             90             0
  88  Shelf           3.726          0.172          1.671          0              90             0
  89  SinkBasin       -0.330         0.686          -1.581         0              270            0
  90  GarbageCan      -0.870         -0.001         2.136          0              90             0
  91  StoveKnob       1.089          0.913          -1.243         45             0              0
  92  StoveKnob       1.208          0.913          -1.243         45             0              0
  93  StoveKnob       1.340          0.913          -1.243         45             0              0
  94  StoveKnob       0.961          0.913          -1.243         45             0              0
  95  Toaster         1.637          0.900          -1.673         0              0              0
  96  Chair           -3.505         0.002          3.290          0              105.736        0
  97  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  98  HousePlant      -2.663         0.835          3.209          0              0              0
  99  Faucet          -0.187         0.922          -1.75          0              311.166        0
 100  ShelvingUnit    3.726          0.006          1.671          0              90             0
 101  Stool           -2.501         -0.000         0.062          1.223          91.243         0
 102  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 103  Chair           -2.934         0.002          2.437          0              28.531         0
 104  Chair           -1.698         0.002          3.235          0              245.204        0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Turn around, walk to the table | STEP 2: Grab the cup on the table | STEP 3: Turn left, walk across the room to the microwave | STEP 4: Open the microwave, put the cup in, turn on the microwave, open the microwave, take the cup out, close the microwave | STEP 5: Turn left, walk to the door, turn left, walk to the shelf | STEP 6: Put the cup on the third shelf from the bottom | END