Task: To remove the cup from the fridge to place 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          -0.5           0              0              0
   1  Ladle           1.586          0.955          -1.717         0              90             0              41
   2  ButterKnife     1.586          0.911          -1.374         0              270            0              41
   3  Fork            0.732          0.911          0.827          0              180            0              37
   4  Spoon           1.865          0.912          -1.374         0              90             0              41
   5  Spatula         1.726          0.926          -1.631         0              180            0              41
   6  Egg             1.762          0.945          0.518          0              90             0              37
   7  Plate           1.805          2.138          0.842          0              0              0              45
   8  Plate           1.805          1.655          -0.401         0              0              0              48
   9  Knife           0.476          0.943          1.004          0              90             0              37
  10  Knife           0.988          0.943          1.092          0              90             0              37
  11  SoapBottle      1.841          1.633          -1.419         0              0              0              50
  12  Tomato          -0.295         1.123          -1.382         0              0              0              64
  13  Bowl            -0.741         0.459          -1.412         0              0              0              64
  14  PepperShaker    1.586          0.906          -1.288         0              90             0              41
  15  Plate           1.805          1.634          -0.901         0              0              0              49
  16  SoapBottle      1.840          1.643          -1.724         0              0              0              51
  17  Cup             1.239          0.758          -1.654         0              0              0              56
  18  Egg             1.739          0.105          1.540          0              270            0              55
  19  Fork            1.529          0.911          0.570          0              180            0              37
  20  Ladle           0.989          0.954          0.915          0              180            0              37
  21  Apple           1.757          0.967          1.092          0              90             0              37
  22  SaltShaker      0.455          0.906          -1.263         0              90             0              41
  23  Pan             1.548          0.909          0.075          0              180            0              43
  24  Tomato          1.739          0.134          1.684          0              270            0              55
  25  Spatula         1.762          0.925          0.311          0              180            0              37
  26  Potato          1.771          1.055          -0.676         0              270            0              61
  27  Knife           0.220          0.943          0.915          0              90             0              37
  28  ButterKnife     1.501          0.910          0.915          0              90             0              37
  29  Bread           1.615          0.977          0.761          0              50.525         0              37
  30  Lettuce         0.476          1.010          1.180          0              90             0              37
  31  PepperShaker    1.839          0.905          0.570          0              90             0              37
  32  Pot             1.543          0.909          -0.320         0              90             0              40
  33  DishSponge      1.529          0.910          0.467          0              90             0              37
  34  Spoon           1.165          0.750          -1.494         0              342.866        0              56
  35  Bowl            0.193          0.900          1.170          0              0              0              37
  36  Mug             1.501          0.905          1.180          0              90             0              37
  37  CounterTop      0.989          0.946          1.016          0              90             0
  38  StoveBurner     1.807          0.907          0.075          0              180            0
  39  StoveBurner     1.807          0.907          -0.320         0              180            0
  40  StoveBurner     1.543          0.907          -0.320         0              90             0
  41  CounterTop      0.989          0.946          -1.516         0              90             0
  42  Sink            1.100          0.906          -1.599         0              0              0
  43  StoveBurner     1.548          0.907          0.075          0              180            0
  44  Cabinet         1.658          2.299          1.313          0              0              0
  45  Cabinet         1.658          2.299          0.686          0              0              0
  46  Cabinet         1.658          2.049          0.673          0              0              0
  47  Cabinet         1.658          2.059          0.193          0              0              0
  48  Cabinet         1.658          2.059          -0.593         0              0              0
  49  Cabinet         1.658          2.049          -0.606         0              0              0
  50  Cabinet         1.658          2.049          -1.206         0              0              0
  51  Cabinet         1.658          2.049          -1.893         0              0              0
  52  Toaster         0.131          0.900          -1.589         0              0              0
  53  Window          -0.372         1.588          3.349          90             0              0
  54  Window          0.782          1.741          -1.893         90             0              0
  55  GarbageCan      1.770          -0.029         1.685          0              270            0
  56  SinkBasin       1.091          0.740          -1.599         0              0              0
  57  StoveKnob       1.364          0.821          0.086          48.421         270            0
  58  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  59  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  60  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  61  Microwave       1.752          0.900          -0.843         0              270            0
  62  LightSwitch     2.0            1.261          3.094          0              270            0
  63  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  64  Fridge          -0.533         0.0            -1.554         0              0              0
  65  Chair           1.068          0.000          1.752          0              191.622        0
  66  Faucet          1.110          1.138          -1.764         0              270            0
  67  Chair           0.357          0.000          1.710          0              178.899        0
  68  NorthWall
  69  EastWall
  70  SouthWall
  71  WestWall

Plan:
STEP 1: Turn around and turn right facing the stove.Turn to the right looking at the sink. | STEP 2: Take the green cup from out of the sink. | STEP 3: Turn right and walk halfway and turn to left facing the fridge. | STEP 4: Open the fridge and place the cup on the second shelf and shut the door. After a few seconds take the cup out of the fridge and close it. | STEP 5: Turn left and walk towards the counter in front of the microwave. | STEP 6: Put the cup in the microwave and shut the door. | END