Task: place a cooled cup inside 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          1.0            0              90             0
   1  Pan             1.691          0.929          -0.335         0              0              0              51
   2  Potato          -2.704         0.947          0.631          0              0              0              71
   3  Potato          -2.559         0.631          -1.051         0              90             0              75
   4  DishSponge      -2.372         0.910          1.230          0              0              0              71
   5  DishSponge      1.426          0.910          0.376          0              0              0              52
   6  Fork            1.256          0.919          -1.196         0              225            0              57
   7  Pot             -2.621         0.914          0.031          0              0              0              71
   8  Cup             -2.704         0.908          0.331          0              0              0              71
   9  Cup             -2.538         1.013          2.481          0              90             0              83
  10  Knife           -2.287         0.798          0.486          0              270            0              60
  11  Knife           1.769          0.936          0.494          0              0              0              52
  12  Tomato          -2.455         0.953          0.931          0              0              0              71
  13  PepperShaker    -2.521         1.533          1.840          0              0              0              55
  14  PepperShaker    1.807          1.651          0.092          0              0              0              62
  15  SaltShaker      -2.538         0.905          0.631          0              0              0              71
  16  SaltShaker      -2.347         0.109          -0.023         0              0              0              59
  17  Lettuce         -2.289         0.994          1.530          0              0              0              71
  18  Bread           -0.471         0.996          0.870          0              0              0              43
  19  Bread           -0.081         0.996          1.764          0              0              0              43
  20  Pan             1.411          0.929          0.064          0              0              0              72
  21  Knife           -2.257         0.799          0.857          0              90             0              48
  22  Apple           -2.393         1.150          -0.602         0              90             0              75
  23  Bowl            -2.532         1.297          -0.602         0              90             0              75
  24  Fork            -0.601         0.911          0.647          0              0              0              43
  25  Bread           -2.538         0.996          1.530          0              0              0              71
  26  Plate           -0.081         0.913          1.094          0              0              0              43
  27  Egg             -2.613         0.209          -0.680         0              90             0              75
  28  Kettle          1.772          1.664          -0.550         0              0              0              63
  29  Potato          1.562          0.221          0.651          0              0              0              82
  30  SaltShaker      -2.289         0.905          0.631          0              0              0              71
  31  Lettuce         -2.621         0.994          1.230          0              0              0              71
  32  Cup             -2.524         1.535          2.404          0              0              0              47
  33  SoapBottle      -2.638         1.539          2.057          0              0              0              55
  34  Spatula         -2.318         0.789          0.070          0              270            0              61
  35  PaperTowelRoll  -0.081         1.015          0.423          0              0              0              43
  36  ButterKnife     -2.289         0.910          1.830          0              0              0              71
  37  PepperShaker    -2.455         0.905          0.331          0              180            0              71
  38  DishSponge      1.442          0.922          -1.220         0              225            0              57
  39  Pot             -0.471         0.914          1.764          0              0              0              43
  40  Spoon           1.383          0.919          -0.999         0              225            0              57
  41  Tomato          -2.613         0.220          -0.791         0              90             0              75
  42  Mug             0.464          0.955          -1.593         0              0              0              53
  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 around and walk over to the kitchen counter ahead | STEP 2: grab a cup off of the kitchen counter there | STEP 3: turn left and walk over to the fridge ahead on the right | STEP 4: place the cup inside of the fridge, let it cool, then take it back out | STEP 5: turn right and walk to the end of the room, then turn left to face the microwave on the left | STEP 6: place the cup inside of the microwave | END