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           0.0            0.900          0.0            0              90             0
   1  Pot             1.807          0.909          -0.320         0              180            0              35
   2  Pot             1.548          0.909          0.075          0              180            0              39
   3  Spatula         1.865          0.926          -1.460         0              0              0              37
   4  Spatula         1.245          0.907          0.827          358.845        90             0              33
   5  Knife           1.529          0.943          0.415          0              90             0              33
   6  PepperShaker    0.988          0.905          1.004          0              90             0              33
   7  PepperShaker    1.840          1.628          -0.973         0              0              0              45
   8  Lettuce         1.757          1.010          0.915          0              90             0              33
   9  Mug             1.757          0.905          1.092          0              90             0              33
  10  Apple           1.800          0.127          1.636          0              270            0              51
  11  Plate           1.802          1.647          -0.000         0              0              0              43
  12  SoapBottle      1.733          2.135          0.842          0              0              0              41
  13  Cup             0.732          0.908          1.269          0              90             0              33
  14  Egg             1.451          0.945          0.570          0              90             0              33
  15  Fork            1.684          0.911          0.467          0              90             0              33
  16  Ladle           1.201          0.926          0.743          3.373          0              346.985        33
  17  Apple           0.220          0.967          0.827          0              90             0              33
  18  SaltShaker      1.770          1.628          -0.755         0              0              0              45
  19  Pan             1.281          0.900          1.190          0              0              0              33
  20  Tomato          -0.644         1.155          -1.524         0              0              0              60
  21  Spatula         0.220          0.925          1.004          0              90             0              33
  22  Potato          -0.790         0.500          -1.541         0              0              0              60
  23  Knife           1.140          0.760          -1.584         271.526        75.178         284.946        52
  24  ButterKnife     1.796          0.911          -1.717         0              90             0              37
  25  Bread           1.501          0.987          1.180          0              90             0              33
  26  Lettuce         1.796          1.011          -1.374         0              90             0              37
  27  PepperShaker    1.841          1.648          -0.449         0              0              0              44
  28  Pot             1.807          0.909          0.075          0              180            0              34
  29  DishSponge      1.607          0.910          0.622          0              90             0              33
  30  Spoon           1.839          0.911          0.467          0              90             0              33
  31  Bowl            -0.741         1.387          -1.594         0              0              0              60
  32  Mug             1.878          2.132          0.880          0              0              0              41
  33  CounterTop      0.989          0.946          1.016          0              90             0
  34  StoveBurner     1.807          0.907          0.075          0              180            0
  35  StoveBurner     1.807          0.907          -0.320         0              180            0
  36  StoveBurner     1.543          0.907          -0.320         0              90             0
  37  CounterTop      0.989          0.946          -1.516         0              90             0
  38  Sink            1.100          0.906          -1.599         0              0              0
  39  StoveBurner     1.548          0.907          0.075          0              180            0
  40  Cabinet         1.658          2.299          1.313          0              0              0
  41  Cabinet         1.658          2.299          0.686          0              0              0
  42  Cabinet         1.658          2.049          0.673          0              0              0
  43  Cabinet         1.658          2.059          0.193          0              0              0
  44  Cabinet         1.658          2.059          -0.593         0              0              0
  45  Cabinet         1.658          2.049          -0.606         0              0              0
  46  Cabinet         1.658          2.049          -1.206         0              0              0
  47  Cabinet         1.658          2.049          -1.893         0              0              0
  48  Toaster         0.131          0.900          -1.589         0              0              0
  49  Window          -0.372         1.588          3.349          90             0              0
  50  Window          0.782          1.741          -1.893         90             0              0
  51  GarbageCan      1.770          -0.029         1.685          0              270            0
  52  SinkBasin       1.091          0.740          -1.599         0              0              0
  53  StoveKnob       1.364          0.821          0.086          48.421         270            0
  54  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  55  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  56  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  57  Microwave       1.752          0.900          -0.843         0              270            0
  58  LightSwitch     2.0            1.261          3.094          0              270            0
  59  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  60  Fridge          -0.533         0.0            -1.554         0              0              0
  61  Chair           1.068          0.000          1.752          0              191.622        0
  62  Faucet          1.110          1.138          -1.764         0              270            0
  63  Chair           0.357          0.000          1.710          0              178.899        0
  64  NorthWall
  65  EastWall
  66  SouthWall
  67  WestWall

Plan:
STEP 1: Turn left, move around to the other side of the counter, turn right to face the counter.  | STEP 2: Pick up the green cup on the counter.  | STEP 3: Bring the cup to the fridge on the right.  | STEP 4: Chill the cup on the fridge.  | STEP 5: Bring the chilled cup to the microwave to the left. | STEP 6: Put the chilled cup in the microwave.  | END