Task: Heat the cup with microwave, put the cup on the shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          1.5            0              90             0
   1  Potato          -1.438         0.888          -0.806         0              90             0              77
   2  Ladle           -1.316         1.704          -1.729         0              90             0              52
   3  Ladle           1.631          0.164          -1.397         0              270            0              63
   4  DishSponge      1.557          0.913          -1.212         0              0              0              69
   5  ButterKnife     0.180          0.926          0.305          0              0              0              86
   6  Spoon           -0.668         0.914          -2.233         0              0              0              69
   7  Fork            0.408          0.927          0.762          0              0              0              86
   8  Egg             -1.495         0.913          -1.013         0              90             0              77
   9  Cup             -1.343         2.147          -1.275         0              90             0              53
  10  Cup             -1.610         1.183          -0.910         0              90             0              77
  11  Plate           1.462          0.556          2.482          0              0              0              89
  12  Plate           0.180          0.934          1.448          0              0              0              86
  13  Knife           -0.064         0.787          -1.981         0              270            0              81
  14  Tomato          0.180          0.982          0.762          0              0              0              86
  15  Tomato          1.919          0.965          -1.446         0              0              0              69
  16  SoapBottle      1.958          0.085          0.044          0              0              0              70
  17  Bowl            -1.438         1.180          -0.495         0              90             0              77
  18  Bowl            1.218          0.115          -1.860         0              0              0              61
  19  Lettuce         -1.572         1.585          -0.495         0              90             0              77
  20  Lettuce         -0.160         1.008          0.305          0              0              0              86
  21  Bread           0.066          0.975          0.991          0              0              0              86
  22  Mug             -0.047         0.925          0.534          0              0              0              86
  23  Mug             0.180          0.925          0.534          0              0              0              86
  24  Mug             1.466          0.908          -1.680         0              0              0              69
  25  Apple           -0.047         0.997          0.762          0              0              0              86
  26  Apple           1.850          0.984          -1.918         0              0              0              69
  27  Apple           1.557          0.984          -1.095         0              0              0              69
  28  Potato          -1.284         1.044          -1.846         0              90             0              75
  29  Bowl            -0.617         0.108          -1.873         0              0              0              62
  30  SoapBottle      -1.254         2.146          -1.202         0              90             0              53
  31  Fork            0.408          0.931          0.991          0              0              0              86
  32  Ladle           1.909          1.702          -1.608         0              270            0              59
  33  Bread           0.399          0.964          0.110          0              0              1.601          86
  34  Lettuce         -0.210         0.845          -2.026         0              0              0              81
  35  WineBottle      -0.160         0.927          0.991          0              0              0              86
  36  Spatula         0.008          0.779          -2.071         0              90             0              81
  37  Plate           1.773          0.556          2.482          0              0              0              89
  38  SaltShaker      -0.160         0.923          0.762          0              0              0              86
  39  Pot             1.567          0.948          -0.355         0              0              0              65
  40  Cup             1.647          0.913          -1.563         0              0              0              69
  41  PepperShaker    0.457          0.909          -1.751         0              0              0              69
  42  Pan             1.845          0.948          -0.757         0              0              0              66
  43  ButterKnife     0.408          0.930          0.534          0              0              0              86
  44  Tomato          -1.438         1.235          -0.702         0              90             0              77
  45  DishSponge      1.771          0.880          2.483          0              0              0              95
  46  Egg             -1.533         1.558          -0.703         0              90             0              77
  47  Spoon           0.377          0.9            -1.968         0              0              0              69
  48  Knife           0.119          0.936          -1.689         0              0              0              69
  49  Mug             -1.036         0.908          -2.188         0              0              0              69
  50  StoveBurner     1.845          0.940          -0.355         0              0              0
  51  StoveBurner     1.567          0.940          -0.757         0              0              0
  52  Cabinet         -1.149         2.019          -1.979         0              90             0
  53  Cabinet         -1.149         2.265          -0.834         0              90             0
  54  Cabinet         -0.459         2.265          -2.0           0              0              0
  55  Cabinet         -1.100         2.019          -2.0           0              0              0
  56  Cabinet         1.719          2.019          -2.0           0              0              0
  57  Cabinet         1.179          2.019          -2.0           0              0              0
  58  Cabinet         0.199          2.019          -2.0           0              0              0
  59  Cabinet         1.75           2.019          -1.399         0              270            0
  60  Cabinet         1.75           2.019          -1.029         0              270            0
  61  Cabinet         1.379          0.469          -1.689         0              0              0
  62  Cabinet         -0.819         0.469          -1.689         0              0              0
  63  Cabinet         1.389          0.469          -1.059         0              270            0
  64  Cabinet         -0.839         0.469          -1.665         0              90             0
  65  StoveBurner     1.567          0.940          -0.355         0              0              0
  66  StoveBurner     1.845          0.940          -0.757         0              0              0
  67  Sink            -0.109         0.893          -2.009         0              0              0
  68  Drawer          -0.819         0.75           -1.690         0              0              0
  69  CounterTop      0.232          0.949          -2.002         0              0              0
  70  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  71  Vase            0.251          0.546          0.475          0              270            0
  72  Toaster         0.780          0.900          -2.080         0              0              0
  73  LightSwitch     0.108          1.315          2.75           0              180            0
  74  Vase            0.400          0.925          0.218          0              180            0
  75  Microwave       -1.233         0.900          -1.680         0              90             0
  76  Vase            1.465          1.662          -2.200         0              0              0
  77  Fridge          -1.495         0.0            -0.703         0              0              0
  78  Window          2.114          1.495          1.072          90             270            0
  79  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  80  Vase            0.333          0.546          1.272          0              270            0
  81  SinkBasin       -0.148         0.753          -2.026         0              0              0
  82  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  83  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  84  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  85  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  86  DiningTable     0.170          0.005          0.678          0              270            0
  87  Shelf           0.170          0.155          0.678          0              270            0
  88  Shelf           1.605          0.172          2.480          0              0              0
  89  Shelf           1.605          0.552          2.480          0              0              0
  90  Shelf           1.604          0.880          2.479          0              0              0
  91  ShelvingUnit    1.605          0.006          2.480          0              0              0
  92  Faucet          -0.143         1.028          -2.223         0              270            0
  93  Stool           -0.553         0.000          0.871          1.233          280.376        0
  94  Shelf           0.170          0.528          0.678          0              270            0
  95
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: Turn right, walk straight, turn right, walk to the microwave | STEP 2: Grab the white cup by the microwave | STEP 3: Step back, face the microwave on the counter | STEP 4: Open the microwave, put the cup in the microwave, close the microwave, heat the cup, open the microwave, take the cup out, close the microwave | STEP 5: Turn around, walk straight, turn left, walk to shelf at the end | STEP 6: Put the cup on the second shelf | END