Task: Put the chilled cup 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           2.25           0.930          1.25           0              270            0
   1  Ladle           -0.789         0.937          0.176          0              0              0              63
   2  Ladle           -0.786         0.168          0.576          0              90             0              93
   3  DishSponge      0.330          0.320          -1.515         0              0              0              69
   4  DishSponge      0.468          0.320          -1.556         0              0              0              69
   5  ButterKnife     -0.868         0.326          1.518          0              0              0              98
   6  Glassbottle     0.494          0.901          -1.445         0              0              0              84
   7  Glassbottle     3.277          0.901          -0.897         0              0              0              62
   8  Kettle          3.197          0.178          0.770          0              0              0              72
   9  Kettle          0.856          1.675          -1.480         0              0              0              78
  10  Spatula         0.156          0.915          -1.379         0              45             0              84
  11  Apple           1.098          0.984          0.322          0              0              0              94
  12  PepperShaker    -0.868         0.703          0.489          0              0              0              67
  13  PepperShaker    0.836          0.904          0.747          0              0              0              94
  14  Bowl            3.141          0.172          -0.786         0              0              0              75
  15  Bowl            3.173          1.461          -1.235         0              0              0              77
  16  SoapBottle      -0.239         0.909          -1.496         0              45             0              84
  17  Egg             0.054          0.952          -1.481         0              45             0              84
  18  Egg             -1.119         1.050          1.470          0              90             0              111
  19  Cup             2.907          1.462          -1.746         0              0              0              61
  20  Cup             -1.018         0.995          1.364          0              90             0              111
  21  Plate           0.605          0.921          0.218          0              36.810         0              94
  22  Knife           0.101          0.925          -1.731         0              90             0              84
  23  Knife           2.947          0.738          -0.454         0              90             0              59
  24  Plate           -0.953         0.886          0.699          0              0              0              63
  25  Glassbottle     -0.967         1.259          -0.861         0              45             0              82
  26  SoapBottle      -1.008         0.909          -0.047         0              0              0              63
  27  Potato          -1.085         1.036          1.205          0              90             0              111
  28  Fork            0.798          0.911          0.727          0              0              0              94
  29  Ladle           -1.008         0.937          0.176          0              0              0              63
  30  Pot             -0.420         0.902          -0.920         0              135            0              58
  31  Kettle          -0.237         0.900          -1.099         0              45             0              92
  32  Spatula         3.070          0.762          0.098          0              270            0              108
  33  Knife           0.622          0.933          0.527          0              0              0              94
  34  Lettuce         1.360          0.973          0.180          0              0              0              94
  35  Cup             3.246          1.262          -0.854         0              0              0              76
  36  SaltShaker      3.070          0.709          -0.314         0              180            0              59
  37  Egg             -1.119         1.050          1.311          0              90             0              111
  38  PepperShaker    3.102          1.460          -1.382         0              0              0              77
  39  ButterKnife     0.445          0.908          0.928          0              0              0              94
  40  Apple           0.967          0.981          0.747          0              0              0              94
  41  Pan             0.341          0.873          -1.649         0              167.065        0              84
  42  Bread           1.534          0.972          0.486          0              289.287        0              94
  43  CellPhone       -0.151         0.897          -1.687         0              45             0              84
  44  DishSponge      -0.868         0.130          0.401          0              0              0              93
  45  Tomato          -0.849         0.937          -0.982         0              45             0              63
  46  Spoon           -0.826         0.901          -0.904         0              45             0              63
  47  Bowl            2.966          0.897          -0.499         0              0              0              62
  48  Mug             3.049          0.966          0.591          0              270            0              106
  49  Drawer          0.376          0.572          -1.509         0              0              0
  50  Drawer          3.020          0.769          -0.783         0              180            0
  51  Drawer          -0.860         0.577          1.429          0              0              0
  52  StoveBurner     -0.600         0.897          -1.090         0              135            0
  53  Drawer          0.376          0.191          -1.509         0              0              0
  54  Cabinet         1.402          1.874          -1.259         0              0              0
  55  Cabinet         -0.202         1.963          -1.328         0              0              0
  56  Drawer          -0.860         0.765          1.429          0              0              0
  57  Drawer          -0.677         0.765          -0.700         0              0              0
  58  StoveBurner     -0.420         0.897          -0.920         0              135            0
  59  Drawer          3.020          0.769          -0.407         0              180            0
  60  Drawer          -0.860         0.577          0.663          0              0              0
  61  Cabinet         2.819          1.768          -1.850         0              0              0
  62  CounterTop      3.111          0.936          0.019          0              0              0
  63  CounterTop      -1.007         0.935          -0.039         0              0              0
  64  Drawer          -0.860         0.385          0.663          0              0              0
  65  StoveBurner     -0.419         0.897          -1.269         0              315            0
  66  Drawer          -0.047         0.573          -1.324         0              0              0
  67  Drawer          -0.860         0.765          0.663          0              0              0
  68  Drawer          -0.860         0.385          -0.100         0              0              0
  69  Drawer          0.376          0.380          -1.509         0              0              0
  70  Drawer          -0.860         0.765          -0.100         0              0              0
  71  Drawer          0.376          0.765          -1.509         0              0              0
  72  Cabinet         2.849          0.419          0.409          0              0              0
  73  Drawer          -0.047         0.765          -1.324         0              0              0
  74  Cabinet         2.849          0.419          -0.610         0              0              0
  75  Cabinet         2.849          0.419          -0.959         0              0              0
  76  Cabinet         3.069          1.666          -0.709         0              0              0
  77  Cabinet         2.819          1.768          -1.047         0              0              0
  78  Cabinet         0.620          1.874          -1.259         0              0              0
  79  Cabinet         0.140          1.666          -1.559         0              0              0
  80  Cabinet         -0.189         1.666          -1.340         0              0              0
  81  Cabinet         -0.709         1.963          -0.819         0              0              0
  82  Cabinet         -0.920         1.665          -0.620         0              0              0
  83  Drawer          -0.860         0.190          -0.100         0              0              0
  84  CounterTop      0.133          0.935          -1.457         0              0              0
  85  Drawer          3.020          0.769          0.695          0              180            0
  86  Drawer          -0.677         0.577          -0.700         0              0              0
  87  Drawer          -0.860         0.190          1.429          0              0              0
  88  Drawer          -0.047         0.192          -1.324         0              0              0
  89  Drawer          -0.677         0.193          -0.700         0              0              0
  90  Drawer          -0.860         0.577          -0.100         0              0              0
  91  Sink            3.078          0.887          0.086          0              0              0
  92  StoveBurner     -0.239         0.897          -1.089         0              315            0
  93  Drawer          -0.860         0.190          0.663          0              0              0
  94  CounterTop      1.210          0.937          0.463          0              0              0
  95  Drawer          -0.047         0.381          -1.324         0              0              0
  96  Drawer          -0.677         0.387          -0.700         0              0              0
  97  Mirror          -1.295         1.630          0.045          0              0              0
  98  Drawer          -0.860         0.385          1.429          0              0              0
  99  HousePlant      3.196          0.891          -0.368         0              0              0
 100  StoveKnob       -0.090         0.790          -1.009         270            45             0
 101  StoveKnob       -0.280         0.790          -0.819         270            45             0
 102  StoveKnob       -0.180         0.790          -0.920         270            45             0
 103  StoveKnob       -0.370         0.790          -0.720         270            45             0
 104  GarbageCan      3.137          0.025          1.545          0              225            0
 105  Window          3.703          1.675          0.046          90             90             0
 106  CoffeeMachine   3.214          0.890          0.697          0              270            0
 107  LightSwitch     2.592          1.309          -1.880         0              0              0
 108  SinkBasin       3.069          0.736          0.108          0              90             0
 109  Fridge          1.008          0.029          -1.467         0              0              0
 110  Toaster         -1.035         0.873          -0.396         0              90             0
 111  Microwave       -1.034         0.874          1.428          0              90             0
 112  Faucet          3.305          0.886          0.094          270            180            0
 113  NorthWall
 114  EastWall
 115  SouthWall
 116  WestWall

Plan:
STEP 1: Turn left then cross the room head to the microwave  | STEP 2: Open the microwave pick up the cup then close the microwave | STEP 3: Turn left then head to the fridge | STEP 4: Open the fridge put in and out the cup then close the fridge | STEP 5: Turn right then head to the microwave  | STEP 6: Open and put in the cup in the microwave then close it | END