Task: warm a chilled cup from the cabinet 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           -0.5           0.900          -0.5           0              180            0
   1  Potato          1.604          0.221          0.706          0              0              0              84
   2  DishSponge      1.771          1.656          0.165          0              0              0              64
   3  Fork            1.684          0.911          0.465          0              0              0              54
   4  Fork            -0.471         0.911          0.423          0              0              0              45
   5  Spoon           -2.289         0.912          1.530          0              0              0              76
   6  Pot             1.691          0.929          -0.335         0              0              0              53
   7  Pot             1.691          0.929          0.064          0              0              0              56
   8  Egg             1.769          0.941          0.376          0              0              0              54
   9  Cup             1.341          0.908          0.435          0              0              0              54
  10  Cup             -2.603         1.013          2.481          0              90             0              85
  11  Cup             -0.471         0.908          1.540          0              0              0              45
  12  Plate           -0.211         0.913          0.423          0              0              0              45
  13  Knife           -0.601         0.936          0.423          0              90             0              45
  14  Knife           -0.471         0.936          1.317          0              0              0              45
  15  Bowl            -0.471         0.908          0.647          0              0              0              45
  16  Bowl            -0.211         0.908          1.540          0              0              0              45
  17  PepperShaker    -2.455         0.905          0.331          0              180            0              73
  18  PepperShaker    -2.685         1.532          2.404          0              0              0              49
  19  SaltShaker      1.769          0.906          0.465          0              0              0              54
  20  Apple           -2.704         0.972          0.631          0              0              0              73
  21  Apple           1.684          0.972          -0.726         0              0              0              55
  22  Pan             0.0            0.9            0.948          0              29.999         0              45
  23  Knife           -0.341         0.936          1.764          0              0              0              45
  24  Apple           -2.439         1.150          -0.790         0              90             0              77
  25  Bowl            -2.564         1.534          2.768          0              0              0              49
  26  Fork            -0.211         0.911          1.317          0              0              0              45
  27  Bread           -0.471         0.996          0.870          0              0              0              45
  28  Plate           -2.455         0.913          0.931          0              0              0              73
  29  Egg             1.348          0.949          -0.964         0              225            0              59
  30  Kettle          -2.564         1.538          0.198          0              270            0              68
  31  Potato          1.729          0.221          0.651          0              0              0              84
  32  SaltShaker      1.735          1.658          -0.335         0              0              0              65
  33  Lettuce         -2.289         0.994          0.631          0              0              0              73
  34  Cup             -2.384         0.112          0.026          0              0              0              61
  35  SoapBottle      -2.704         0.912          0.031          0              0              0              73
  36  Spatula         -2.318         0.788          0.070          0              270            0              63
  37  PaperTowelRoll  -0.081         1.015          0.647          0              0              0              45
  38  ButterKnife     -2.372         0.910          1.230          0              0              0              73
  39  PepperShaker    1.599          0.905          -0.851         0              0              0              55
  40  DishSponge      -2.257         0.772          1.417          0              0              0              76
  41  Pot             1.411          0.929          0.064          0              0              0              74
  42  Spoon           -2.621         0.912          1.230          0              0              0              73
  43  Tomato          -2.532         1.342          -0.507         0              90             0              77
  44  Mug             0.464          0.955          -1.593         0              0              0              55
  45  CounterTop      -0.360         0.946          1.093          0              0              0
  46  StoveBurner     1.412          0.923          -0.335         0              0              0
  47  StoveKnob       1.878          1.093          0.018          287.989        90             0
  48  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  49  Cabinet         -2.446         1.948          2.924          0              0              0
  50  Drawer          -2.276         0.792          0.902          0              0              0
  51  Cabinet         -2.145         0.402          1.578          0              0              0
  52  Cabinet         0.149          2.008          -1.603         0              90             0
  53  StoveBurner     1.691          0.923          -0.335         0              0              0
  54  CounterTop      1.585          0.946          0.405          0              0              0
  55  CounterTop      0.474          0.946          -1.625         0              0              0
  56  StoveBurner     1.691          0.923          0.064          0              0              0
  57  Cabinet         -2.446         1.948          1.687          0              0              0
  58  Cabinet         -2.446         1.948          1.640          0              0              0
  59  Sink            1.381          0.810          -1.271         0              225            0
  60  StoveKnob       1.878          1.093          0.150          287.989        90             0
  61  Cabinet         -2.145         0.402          -0.236         0              0              0
  62  Drawer          -2.276         0.792          0.437          0              0              0
  63  Drawer          -2.276         0.792          -0.027         0              0              0
  64  Cabinet         1.572          2.008          0.474          0              0              0
  65  Cabinet         1.572          2.008          -0.775         0              0              0
  66  Cabinet         -2.445         2.148          -1.275         0              0              0
  67  Cabinet         -2.446         2.148          -0.284         0              0              0
  68  Cabinet         -2.446         1.948          0.355          0              0              0
  69  Cabinet         -2.446         1.948          0.405          0              0              0
  70  Cabinet         -2.145         0.402          0.644          0              0              0
  71  Cabinet         -2.145         0.402          0.695          0              0              0
  72  Cabinet         -2.285         1.968          -1.325         0              180            0
  73  CounterTop      -1.485         0.946          1.319          0              0              0
  74  StoveBurner     1.411          0.923          0.064          0              0              0
  75  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  76  Drawer          -2.276         0.792          1.368          0              0              0
  77  Fridge          -2.475         0.0            -0.782         0              90             0
  78  LightSwitch     -0.929         1.350          -1.950         0              0              0
  79  Toaster         -2.564         0.900          1.876          0              90             0
  80  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  81  Window          1.508          1.534          -1.496         90             135            0
  82  Window          1.973          1.521          1.121          90             90             0
  83  SinkBasin       1.149          0.753          -1.380         0              225            0
  84  GarbageCan      1.646          -0.000         0.679          0              0              0
  85  Microwave       -2.580         0.900          2.440          0              90             0
  86  Stool           0.439          0.010          0.747          0              0              0
  87  Stool           -2.303         0.010          1.839          0              0              0
  88  Faucet          1.235          1.138          -1.473         0              225            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: go to the bottom cabinet to the right of the fridge | STEP 2: take the cup from the cabinet | STEP 3: take the cup to the fridge | STEP 4: put the cup in the fridge then remove | STEP 5: take the chilled cup to the microwave | STEP 6: warm the cup in the microwave | END