Task: Put a 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           -1.25          0.900          0.5            0              0              0
   1  Pan             0.048          0.910          1.317          0              0              0              43
   2  Pan             -2.420         0.594          -0.603         0              0              0              75
   3  DishSponge      -2.538         0.910          1.230          0              0              0              71
   4  DishSponge      -2.257         0.773          0.809          0              0              0              48
   5  Spoon           -2.455         0.912          0.631          0              0              0              71
   6  Spoon           -2.379         0.775          -0.073         0              90             0              61
   7  Spatula         -0.211         0.925          0.647          0              90             0              43
   8  Spatula         -2.287         0.789          -0.073         0              90             0              61
   9  Pot             1.691          0.929          -0.335         0              0              0              51
  10  Egg             1.345          0.951          -1.177         0              225            0              57
  11  Plate           -2.538         0.913          0.931          0              0              0              71
  12  Plate           1.735          1.666          -0.407         0              0              0              63
  13  Knife           1.364          0.943          -1.088         0              225            0              57
  14  PepperShaker    -2.564         1.532          1.337          0              0              0              56
  15  SaltShaker      -2.241         0.109          0.489          0              0              0              68
  16  SaltShaker      -2.277         0.109          1.527          0              0              0              49
  17  Lettuce         -0.471         0.994          1.764          0              0              0              43
  18  Mug             0.588          1.658          -1.802         0              90             0              50
  19  Mug             -2.570         1.010          2.278          0              90             0              83
  20  Pan             -2.485         1.300          -0.790         0              180            0              75
  21  Knife           -2.196         0.798          1.417          0              270            0              74
  22  Apple           1.275          0.980          -1.107         0              225            0              57
  23  Bowl            -2.560         1.535          1.984          0              0              0              55
  24  Fork            1.512          0.911          0.494          0              0              0              52
  25  Bread           -2.289         0.996          0.331          0              0              0              71
  26  Plate           -2.289         0.913          0.631          0              0              0              71
  27  Egg             -0.341         0.941          1.540          0              0              0              43
  28  Kettle          1.411          0.929          0.064          0              0              0              72
  29  Potato          1.145          0.807          -1.376         0              225            0              81
  30  SaltShaker      0.301          1.658          -1.729         0              90             0              50
  31  Lettuce         -0.341         0.994          0.647          0              0              0              43
  32  Cup             -2.599         1.535          0.629          0              0              0              67
  33  SoapBottle      1.698          1.665          -0.694         0              0              0              63
  34  Spatula         -2.704         0.925          0.031          0              90             0              71
  35  PaperTowelRoll  -0.730         1.015          1.094          0              0              0              43
  36  ButterKnife     -0.081         0.910          0.423          0              0              0              43
  37  PepperShaker    1.684          0.906          0.406          0              270            0              52
  38  DishSponge      -2.287         0.773          1.000          0              0              0              48
  39  Pot             1.691          0.929          0.064          0              0              0              54
  40  Spoon           -0.081         0.912          0.647          0              0              0              43
  41  Tomato          -2.613         0.220          -0.902         0              90             0              75
  42  Mug             -2.455         0.905          1.530          0              0              0              71
  43  CounterTop      -0.360         0.946          1.093          0              0              0
  44  StoveBurner     1.412          0.923          -0.335         0              0              0
  45  StoveKnob       1.878          1.093          0.018          287.989        90             0
  46  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  47  Cabinet         -2.446         1.948          2.924          0              0              0
  48  Drawer          -2.276         0.792          0.902          0              0              0
  49  Cabinet         -2.145         0.402          1.578          0              0              0
  50  Cabinet         0.149          2.008          -1.603         0              90             0
  51  StoveBurner     1.691          0.923          -0.335         0              0              0
  52  CounterTop      1.585          0.946          0.405          0              0              0
  53  CounterTop      0.474          0.946          -1.625         0              0              0
  54  StoveBurner     1.691          0.923          0.064          0              0              0
  55  Cabinet         -2.446         1.948          1.687          0              0              0
  56  Cabinet         -2.446         1.948          1.640          0              0              0
  57  Sink            1.381          0.810          -1.271         0              225            0
  58  StoveKnob       1.878          1.093          0.150          287.989        90             0
  59  Cabinet         -2.145         0.402          -0.236         0              0              0
  60  Drawer          -2.276         0.792          0.437          0              0              0
  61  Drawer          -2.276         0.792          -0.027         0              0              0
  62  Cabinet         1.572          2.008          0.474          0              0              0
  63  Cabinet         1.572          2.008          -0.775         0              0              0
  64  Cabinet         -2.445         2.148          -1.275         0              0              0
  65  Cabinet         -2.446         2.148          -0.284         0              0              0
  66  Cabinet         -2.446         1.948          0.355          0              0              0
  67  Cabinet         -2.446         1.948          0.405          0              0              0
  68  Cabinet         -2.145         0.402          0.644          0              0              0
  69  Cabinet         -2.145         0.402          0.695          0              0              0
  70  Cabinet         -2.285         1.968          -1.325         0              180            0
  71  CounterTop      -1.485         0.946          1.319          0              0              0
  72  StoveBurner     1.411          0.923          0.064          0              0              0
  73  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  74  Drawer          -2.276         0.792          1.368          0              0              0
  75  Fridge          -2.475         0.0            -0.782         0              90             0
  76  LightSwitch     -0.929         1.350          -1.950         0              0              0
  77  Toaster         -2.564         0.900          1.876          0              90             0
  78  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  79  Window          1.508          1.534          -1.496         90             135            0
  80  Window          1.973          1.521          1.121          90             90             0
  81  SinkBasin       1.149          0.753          -1.380         0              225            0
  82  GarbageCan      1.646          -0.000         0.679          0              0              0
  83  Microwave       -2.580         0.900          2.440          0              90             0
  84  Stool           0.439          0.010          0.747          0              0              0
  85  Stool           -2.303         0.010          1.839          0              0              0
  86  Faucet          1.235          1.138          -1.473         0              225            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn to the left and face the counter in front of the pan. | STEP 2: Open the upper cabinet and reach to take out the cup and then shut the door. | STEP 3: Go left and turn to face the fridge. | STEP 4: Put the cup in the fridge and shut the door and then open the door and pick up the cup. | STEP 5: Go right and then turn to the left to face the microwave. | STEP 6: Put the cup in the microwave. | END