Task: To heat a cup as well as place it in the fridge.

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          3.5            0              0              0
   1  Pan             1.559          0.988          4.294          0              0              0              59
   2  Potato          2.094          1.550          5.626          0              270            0              83
   3  Potato          -0.093         0.794          6.633          0              225            0              97
   4  DishSponge      1.442          0.890          2.474          0              90             0              84
   5  ButterKnife     1.403          0.992          3.511          0              0              0              61
   6  Kettle          0.897          1.580          0.295          0              0              0              68
   7  Pot             1.317          0.988          4.294          0              0              0              56
   8  Spoon           -0.611         0.993          0.486          0              0              0              61
   9  Spoon           1.238          0.771          4.753          0              0              0              51
  10  Spatula         1.403          1.007          0.440          0              0              0              61
  11  Spatula         0.192          0.786          0.618          0              270            0              58
  12  Egg             0.168          1.135          0.213          0              0              0              77
  13  Egg             1.332          0.946          2.525          0              90             0              84
  14  Cup             -0.621         0.756          6.354          0              270            0              97
  15  Knife           0.124          0.801          0.451          0              90             0              58
  16  Knife           -0.481         0.802          0.563          0              270            0              57
  17  Tomato          2.137          1.565          5.251          0              270            0              83
  18  SoapBottle      1.135          0.992          4.624          0              0              0              62
  19  SoapBottle      0.080          0.760          6.895          0              225            0              97
  20  Bowl            0.055          0.143          0.582          0              0              0              70
  21  Bowl            0.148          0.759          6.609          0              225            0              97
  22  PepperShaker    1.573          0.135          3.143          0              0              0              72
  23  SaltShaker      1.403          0.987          1.577          0              0              0              61
  24  SaltShaker      1.200          1.574          0.119          0              0              0              75
  25  Bread           0.058          0.829          6.261          0              135            0              97
  26  Bowl            2.009          1.514          6.001          0              270            0              83
  27  Bread           -0.289         0.829          6.786          0              135            0              97
  28  Egg             -0.005         0.810          6.544          0              225            0              97
  29  Knife           1.292          0.801          3.223          0              0              0              54
  30  Fork            -0.011         0.772          0.396          0              90             0              58
  31  Apple           2.009          1.590          5.501          0              270            0              83
  32  Kettle          1.500          1.578          1.288          0              0              0              71
  33  Plate           1.489          2.207          3.794          0              0              0              52
  34  SaltShaker      1.493          0.987          0.213          0              0              0              61
  35  Lettuce         1.449          0.932          2.050          0              0              0              84
  36  SoapBottle      1.495          2.207          4.262          0              90             0              49
  37  Spatula         1.671          1.007          2.950          0              0              0              61
  38  PaperTowelRoll  1.907          0.185          6.409          0              0              0              85
  39  Pot             1.32           0.988          3.848          0              0              0              60
  40  Potato          -0.621         0.794          6.479          0              270            0              97
  41  ButterKnife     -0.421         0.760          6.305          0              225            0              97
  42  PepperShaker    0.332          0.139          0.582          0              0              0              70
  43  Pan             1.313          0.985          4.284          0              0              0              56
  44  Tomato          0.999          1.042          0.120          0              0              0              61
  45  DishSponge      1.490          0.140          2.233          0              0              0              73
  46  Cup             0.622          1.575          0.339          0              0              0              75
  47  Spoon           -0.221         0.761          6.941          0              90             0              97
  48  Mug             -0.013         1.574          0.163          0              0              0              74
  49  Cabinet         1.307          2.455          4.360          0              0              0
  50  Cabinet         1.054          0.422          1.710          0              0              0
  51  Drawer          1.280          0.808          4.718          0              0              0
  52  Cabinet         1.307          2.455          3.607          0              0              0
  53  Drawer          0.736          0.802          0.521          0              0              0
  54  Drawer          1.276          0.802          3.291          0              0              0
  55  StoveBurner     1.562          0.982          3.848          0              0              0
  56  StoveBurner     1.317          0.982          4.294          0              0              0
  57  Drawer          -0.482         0.802          0.521          0              0              0
  58  Drawer          0.124          0.802          0.521          0              0              0
  59  StoveBurner     1.559          0.982          4.294          0              0              0
  60  StoveBurner     1.320          0.982          3.848          0              0              0
  61  CounterTop      1.391          1.028          0.897          0              0              0
  62  CounterTop      1.391          1.028          4.716          0              0              0
  63  Cabinet         1.054          0.422          4.548          0              0              0
  64  Cabinet         1.317          2.134          0.517          0              0              0
  65  Cabinet         1.317          2.134          4.889          0              0              0
  66  Cabinet         1.317          2.134          3.095          0              0              0
  67  Cabinet         0.443          0.422          0.743          0              0              0
  68  Cabinet         1.270          2.134          0.434          0              0              0
  69  Cabinet         -0.775         0.422          0.743          0              0              0
  70  Cabinet         -0.168         0.422          0.743          0              0              0
  71  Cabinet         1.317          2.134          1.534          0              0              0
  72  Cabinet         1.054          0.422          2.990          0              0              0
  73  Cabinet         1.054          0.422          2.944          0              0              0
  74  Cabinet         -0.263         2.134          0.434          0              0              0
  75  Cabinet         0.252          2.134          0.434          0              0              0
  76  Sink            1.391          1.006          2.326          0              0              0
  77  Microwave       0.108          0.981          0.262          0              0              0
  78  HousePlant      -0.165         0.826          6.444          0              0              0
  79  CoffeeMachine   1.551          0.982          0.953          0              270            0
  80  Toaster         1.473          0.981          4.715          0              270            0
  81  Window          -2.065         1.916          3.626          90             90             0
  82  Window          1.763          2.007          2.299          90             270            0
  83  Fridge          2.035          0.0            5.625          0              0              0
  84  SinkBasin       1.387          0.880          2.338          0              90             0
  85  GarbageCan      2.001          -0.044         6.503          0              0              0
  86  StoveKnob       1.140          0.934          3.987          45             270            0
  87  StoveKnob       1.140          0.934          4.309          45             270            0
  88  StoveKnob       1.140          0.934          4.140          45             270            0
  89  StoveKnob       1.140          0.934          3.824          45             270            0
  90  Vase            -0.226         0.834          6.993          0              0              0
  91  Vase            2.098          0.043          7.070          0              257.232        0
  92  Vase            -0.594         0.835          6.130          0              225            0
  93  LightSwitch     -2.0           1.549          6.045          0              90             0
  94  Safe            2.046          1.072          7.054          0              257.232        0
  95  Faucet          1.534          1.025          2.371          0              294.391        0
  96  Blinds          1.738          2.563          2.312          0              90             0
  97  DiningTable     -0.156         0.000          6.474          0              0              0
  98  Chair           0.291          0.002          6.142          0              310.162        0
  99  GarbageBag      -1.092         0.318          0.268          270            90             83.492
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Turn around and walk across the room and look up to face the cabinet above the left side of the microwave. | STEP 2: Pick up the cup from the cabinet above the left side of the microwave. | STEP 3: Step to the right and look down to face the microwave. | STEP 4: Heat the cup in the microwave and remove it. | STEP 5: Turn around and walk across the room and then turn right and step forward to face the fridge. | STEP 6: Place the cup in the fridge. | END