Task: heat the cup with microwave, put the cup in the coffee machine

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           3.0            0.900          1.25           0              270            0
   1  Statue          -1.278         0.920          0.241          0              180            0              76
   2  Ladle           0.969          0.948          -2.098         0              180            0              83
   3  DishSponge      2.694          0.551          0.090          0              180            0              89
   4  ButterKnife     -1.138         0.911          -2.182         0              0              0              83
   5  ButterKnife     -0.186         0.695          0.181          0              180            0              82
   6  Pot             -1.289         0.957          -1.02          0              0              0              73
   7  Spatula         -1.413         0.928          -0.353         0              90             0              76
   8  Spatula         0.008          0.928          0.241          0              0              0              76
   9  Fork            -0.117         0.763          -1.952         0              0              0              93
  10  Fork            -0.290         0.763          -2.008         0              0              0              93
  11  Spoon           -1.322         0.912          -1.806         0              0              0              83
  12  Egg             2.042          0.096          0.195          0              0              0              86
  13  Knife           -1.244         0.907          -0.078         90             5.928          0              76
  14  Knife           -0.849         0.937          0.083          0              0              0              76
  15  SoapBottle      -0.897         0.911          -1.845         0              0              0              83
  16  SoapBottle      3.109          0.552          0.038          0              180            0              89
  17  Tomato          1.945          1.477          -0.830         0              270            0              90
  18  Bowl            1.945          1.424          -0.644         0              270            0              90
  19  Bowl            -0.031         0.760          -2.063         0              0              0              93
  20  SaltShaker      -0.589         0.690          -1.979         0              0              0              53
  21  PepperShaker    1.194          0.907          -2.098         0              0              0              83
  22  Lettuce         1.891          1.175          -0.458         0              270            0              90
  23  Lettuce         -0.152         1.208          0.529          0              90             0              79
  24  Apple           -0.152         1.180          0.662          0              0              0              79
  25  Pan             -1.056         0.956          -0.672         0              180            0              55
  26  Knife           -0.822         1.155          0.706          0              180            0              79
  27  Bowl            -0.420         0.910          0.294          0              0              0              76
  28  Fork            -0.205         0.914          0.294          0              270            0              76
  29  Cup             0.101          0.750          -1.938         0              0              0              93
  30  Ladle           -0.543         0.731          0.190          0              270            0              77
  31  Apple           1.813          1.064          -1.245         0              270            0              88
  32  Kettle          -1.349         1.663          0.163          0              0              0              67
  33  Vase            -0.822         1.133          0.573          0              0              0              79
  34  Potato          1.910          1.045          -1.192         0              270            0              88
  35  Pot             -1.289         0.957          -0.756         0              180            0              58
  36  Bread           -1.145         0.986          -0.176         358.079        0              0              76
  37  Plate           -1.312         1.659          -0.558         0              0              0              66
  38  Spatula         -0.611         0.709          0.102          0              90             0              77
  39  PaperTowelRoll  0.071          1.235          0.441          0              0              0              79
  40  Vase            1.911          1.666          -1.157         0              0              0              60
  41  Egg             1.878          1.049          -1.402         0              270            0              88
  42  SoapBottle      -1.391         1.660          -0.353         0              0              0              66
  43  SaltShaker      2.900          0.876          0.141          0              180            0              87
  44  Lettuce         1.891          0.893          -0.551         0              270            0              90
  45  PepperShaker    2.491          0.876          0.114          0              180            0              87
  46  ButterKnife     -0.152         1.131          0.441          0              0              0              79
  47  DishSponge      1.845          0.062          0.138          0              0              0              86
  48  Vase            2.979          0.539          0.128          0              0              0              89
  49  Spoon           -0.598         1.132          0.662          0              180            0              79
  50  Tomato          -0.375         1.181          0.573          0              0              0              79
  51  Mug             1.836          0.812          -0.737         0              270            0              90
  52  Statue          1.194          0.918          -1.929         0              0              0              83
  53  Drawer          -0.819         0.75           -1.690         0              0              0
  54  Cabinet         -1.149         2.264          -0.838         0              90             0
  55  StoveBurner     -1.056         0.949          -0.671         0              180            0
  56  Cabinet         1.738          2.019          -2.000         0              0              0
  57  Cabinet         1.389          0.469          -1.059         0              0              0
  58  StoveBurner     -1.289         0.949          -0.755         0              180            0
  59  Faucet          -0.157         1.052          -2.196         0              270            0
  60  Cabinet         1.75           2.019          -1.029         0              0              0
  61  Cabinet         1.75           2.019          -1.399         0              0              0
  62  Cabinet         1.179          2.019          -2.0           0              0              0
  63  Cabinet         0.199          2.019          -2.0           0              0              0
  64  Cabinet         -1.100         2.019          -2.0           0              0              0
  65  Cabinet         -1.149         2.019          -1.979         0              0              0
  66  Cabinet         -1.149         2.019          -0.770         0              0              0
  67  Cabinet         -1.149         2.019          0.380          0              0              0
  68  Cabinet         -0.819         0.469          -1.689         0              0              0
  69  Cabinet         -0.839         0.469          -1.664         0              0              0
  70  Cabinet         -0.839         0.469          -0.049         0              0              0
  71  Cabinet         -0.414         0.370          -0.009         0              0              0
  72  Sink            -0.118         0.875          -2.009         0              0              0
  73  StoveBurner     -1.289         0.949          -1.019         0              0              0
  74  Cabinet         0.119          2.264          -2.0           0              0              0
  75  Cabinet         -0.459         2.264          -2.0           0              0              0
  76  CounterTop      -0.665         0.949          0.188          0              0              0
  77  Drawer          -0.449         0.75           -0.010         0              180            0
  78  Cabinet         -0.450         0.469          -0.009         0              0              0
  79  CounterTop      -0.630         1.167          0.573          0              0              0
  80  StoveBurner     -1.056         0.949          -1.126         0              0              0
  81  Cabinet         1.376          0.460          -1.685         0              0              0
  82  Drawer          -0.070         0.75           -0.009         0              180            0
  83  CounterTop      1.159          0.946          -2.013         0              0              0
  84  Cabinet         -1.150         2.264          -1.418         0              90             0
  85  HousePlant      -1.246         1.108          0.606          0              0              0
  86  GarbageCan      1.923          -0.010         0.137          0              0              0
  87  Shelf           2.759          0.880          0.144          0              0              0
  88  Microwave       1.827          0.900          -1.354         0              270            0
  89  Shelf           2.759          0.552          0.145          0              0              0
  90  Fridge          1.975          0.0            -0.537         0              0              0
  91  LightSwitch     0.404          1.297          2.0            0              180            0
  92  Shelf           2.760          0.172          0.145          0              0              0
  93  SinkBasin       -0.129         0.752          -2.007         0              0              0
  94  StoveKnob       -0.873         0.903          -0.827         45             90             0
  95  StoveKnob       -0.873         0.903          -0.676         45             90             0
  96  StoveKnob       -0.873         0.903          -0.966         45             90             0
  97  StoveKnob       -0.873         0.903          -1.123         45             90             0
  98  Toaster         0.840          0.900          -2.057         0              0              0
  99  CoffeeMachine   0.501          0.900          -2.125         0              0              0
 100  ShelvingUnit    2.760          0.006          0.144          0              0              0
 101  Stool           -0.826         0.010          0.908          0              347.513        0
 102  Stool           -0.132         0.010          0.883          0              71.555         0
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: walk straight, turn left, walk to the refrigerator | STEP 2: take the cup out of the refrigerator, close the refrigerator | STEP 3: turn around, turn around to the microwave | STEP 4: open the microwave, put the cup in, heat the cup, take the cup out | STEP 5: turn right to the coffee machine | STEP 6: put the cup in the coffee machine | END