Task: put a chilled cup inside microwave

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.930          1.0            0              90             0
   1  Pan             -0.862         0.899          0.176          0              90             0              61
   2  Potato          1.008          1.111          -1.475         0              0              0              107
   3  Potato          -0.717         0.938          -0.270         0              0              0              61
   4  DishSponge      -0.862         0.899          -0.047         0              0              0              68
   5  DishSponge      -0.909         0.130          0.576          0              0              0              91
   6  Glassbottle     1.303          1.675          -1.410         0              0              0              52
   7  Glassbottle     0.254          1.260          -1.741         0              0              0              77
   8  Pot             -0.420         0.902          -0.920         0              135            0              56
   9  Spatula         -0.857         0.915          -0.671         0              135            0              61
  10  Spoon           3.028          0.748          -0.100         0              180            0              106
  11  Spoon           3.111          0.748          0.165          0              0              0              106
  12  Fork            -0.827         0.131          1.255          0              0              0              85
  13  Fork            0.156          0.900          -1.379         0              45             0              82
  14  Mug             3.049          0.966          0.591          0              270            0              104
  15  Tomato          -0.085         0.937          -1.342         0              45             0              82
  16  Egg             3.262          0.153          1.573          0              225            0              102
  17  Egg             -1.018         1.050          1.258          0              90             0              109
  18  Cup             0.415          0.898          -1.373         0              0              0              82
  19  Cup             3.355          0.898          -0.798         0              0              0              60
  20  Cup             -1.018         0.995          1.470          0              90             0              109
  21  Knife           -0.991         0.156          1.518          0              90             0              85
  22  Plate           3.084          0.190          0.700          0              0              0              70
  23  Glassbottle     0.728          0.911          0.613          0              36.810         0              92
  24  SoapBottle      0.494          0.909          -1.731         0              0              0              82
  25  Potato          3.152          0.785          0.231          0              90             0              106
  26  Fork            -0.868         0.707          -0.011         0              0              0              68
  27  Ladle           -0.827         0.168          0.489          0              90             0              91
  28  Pot             0.967          0.908          0.464          0              0              0              92
  29  Kettle          -0.237         0.900          -1.099         0              45             0              90
  30  Spatula         0.887          0.925          0.727          0              0              0              92
  31  Knife           3.354          0.926          -0.023         0              90             0              60
  32  Lettuce         0.101          0.965          -1.731         0              0              0              82
  33  Cup             3.122          0.898          -0.599         0              0              0              60
  34  SaltShaker      2.947          0.709          0.829          0              180            0              83
  35  Egg             -1.018         1.050          1.364          0              90             0              109
  36  PepperShaker    -0.909         0.514          0.839          0              0              0              58
  37  ButterKnife     0.336          0.900          -1.516         0              0              0              82
  38  Apple           0.356          0.981          0.527          0              0              0              92
  39  Pan             3.181          1.464          -1.648         0              90             0              59
  40  Bread           1.534          0.972          0.486          0              289.287        0              92
  41  CellPhone       2.947          0.709          -0.361         0              180            0              57
  42  DishSponge      -0.731         0.133          -0.707         0              45             0              87
  43  Tomato          0.022          0.937          -1.516         0              0              0              82
  44  Spoon           3.277          0.901          -0.897         0              90             0              60
  45  Bowl            0.760          1.671          -1.480         0              0              0              76
  46  Mug             3.255          0.170          -0.501         0              0              0              72
  47  Drawer          0.376          0.572          -1.509         0              0              0
  48  Drawer          3.020          0.769          -0.783         0              180            0
  49  Drawer          -0.860         0.577          1.429          0              0              0
  50  StoveBurner     -0.600         0.897          -1.090         0              135            0
  51  Drawer          0.376          0.191          -1.509         0              0              0
  52  Cabinet         1.402          1.874          -1.259         0              0              0
  53  Cabinet         -0.202         1.963          -1.328         0              0              0
  54  Drawer          -0.860         0.765          1.429          0              0              0
  55  Drawer          -0.677         0.765          -0.700         0              0              0
  56  StoveBurner     -0.420         0.897          -0.920         0              135            0
  57  Drawer          3.020          0.769          -0.407         0              180            0
  58  Drawer          -0.860         0.577          0.663          0              0              0
  59  Cabinet         2.819          1.768          -1.850         0              0              0
  60  CounterTop      3.111          0.936          0.019          0              0              0
  61  CounterTop      -1.007         0.935          -0.039         0              0              0
  62  Drawer          -0.860         0.385          0.663          0              0              0
  63  StoveBurner     -0.419         0.897          -1.269         0              315            0
  64  Drawer          -0.047         0.573          -1.324         0              0              0
  65  Drawer          -0.860         0.765          0.663          0              0              0
  66  Drawer          -0.860         0.385          -0.100         0              0              0
  67  Drawer          0.376          0.380          -1.509         0              0              0
  68  Drawer          -0.860         0.765          -0.100         0              0              0
  69  Drawer          0.376          0.765          -1.509         0              0              0
  70  Cabinet         2.849          0.419          0.409          0              0              0
  71  Drawer          -0.047         0.765          -1.324         0              0              0
  72  Cabinet         2.849          0.419          -0.610         0              0              0
  73  Cabinet         2.849          0.419          -0.959         0              0              0
  74  Cabinet         3.069          1.666          -0.709         0              0              0
  75  Cabinet         2.819          1.768          -1.047         0              0              0
  76  Cabinet         0.620          1.874          -1.259         0              0              0
  77  Cabinet         0.140          1.666          -1.559         0              0              0
  78  Cabinet         -0.189         1.666          -1.340         0              0              0
  79  Cabinet         -0.709         1.963          -0.819         0              0              0
  80  Cabinet         -0.920         1.665          -0.620         0              0              0
  81  Drawer          -0.860         0.190          -0.100         0              0              0
  82  CounterTop      0.133          0.935          -1.457         0              0              0
  83  Drawer          3.020          0.769          0.695          0              180            0
  84  Drawer          -0.677         0.577          -0.700         0              0              0
  85  Drawer          -0.860         0.190          1.429          0              0              0
  86  Drawer          -0.047         0.192          -1.324         0              0              0
  87  Drawer          -0.677         0.193          -0.700         0              0              0
  88  Drawer          -0.860         0.577          -0.100         0              0              0
  89  Sink            3.078          0.887          0.086          0              0              0
  90  StoveBurner     -0.239         0.897          -1.089         0              315            0
  91  Drawer          -0.860         0.190          0.663          0              0              0
  92  CounterTop      1.210          0.937          0.463          0              0              0
  93  Drawer          -0.047         0.381          -1.324         0              0              0
  94  Drawer          -0.677         0.387          -0.700         0              0              0
  95  Mirror          -1.295         1.630          0.045          0              0              0
  96  Drawer          -0.860         0.385          1.429          0              0              0
  97  HousePlant      3.196          0.891          -0.368         0              0              0
  98  StoveKnob       -0.090         0.790          -1.009         270            45             0
  99  StoveKnob       -0.280         0.790          -0.819         270            45             0
 100  StoveKnob       -0.180         0.790          -0.920         270            45             0
 101  StoveKnob       -0.370         0.790          -0.720         270            45             0
 102  GarbageCan      3.137          0.025          1.545          0              225            0
 103  Window          3.703          1.675          0.046          90             90             0
 104  CoffeeMachine   3.214          0.890          0.697          0              270            0
 105  LightSwitch     2.592          1.309          -1.880         0              0              0
 106  SinkBasin       3.069          0.736          0.108          0              90             0
 107  Fridge          1.008          0.029          -1.467         0              0              0
 108  Toaster         -1.035         0.873          -0.396         0              90             0
 109  Microwave       -1.034         0.874          1.428          0              90             0
 110  Faucet          3.305          0.886          0.094          270            180            0
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: walk to face microwave | STEP 2: remove cup from microwave | STEP 3: walk to face fridge | STEP 4: chill cup in fridge, remove cup from fridge | STEP 5: walk to face microwave | STEP 6: put cup inside microwave | END