Task: Heat the cup from refrigerator with microwave, put it 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           0.5            0.900          0.25           0              180            0
   1  Potato          2.055          1.129          -0.644         0              270            0              90
   2  Ladle           1.528          1.690          -2.272         0              180            0              56
   3  Ladle           -1.259         0.948          -2.098         0              0              0              83
   4  ButterKnife     -1.247         0.901          -0.292         0              0              0              76
   5  Kettle          -1.056         0.956          -1.127         0              0              0              80
   6  Pot             -1.289         0.957          -0.756         0              180            0              58
   7  Spatula         -0.598         1.146          0.485          0              0              0              79
   8  Fork            -0.598         1.132          0.706          0              0              0              79
   9  Fork            -0.657         0.692          -1.891         0              90             0              53
  10  Egg             2.055          1.461          -0.830         0              270            0              90
  11  Knife           -1.045         1.155          0.441          0              0              0              79
  12  Knife           0.744          0.934          -2.014         0              0              0              83
  13  SoapBottle      -1.063         0.913          0.030          0              0              0              76
  14  Tomato          -0.420         0.963          0.241          0              0              0              76
  15  Tomato          -1.404         0.960          -1.553         0              0              0              83
  16  Bowl            1.891          1.095          -0.737         0              270            0              90
  17  Bowl            1.813          1.012          -1.350         0              270            0              88
  18  SaltShaker      -0.849         0.909          0.030          0              0              0              76
  19  PepperShaker    0.012          0.693          0.139          0              180            0              82
  20  PepperShaker    -0.725         0.688          -1.979         0              0              0              53
  21  Lettuce         -1.075         0.987          -1.384         0              90             0              83
  22  Lettuce         0.071          1.208          0.573          0              0              0              79
  23  Mug             1.836          0.812          -0.551         0              270            0              90
  24  Apple           1.891          1.476          -0.551         0              270            0              90
  25  Pan             -1.289         0.957          -1.02          0              0              0              73
  26  Knife           -1.278         0.937          0.030          0              0              0              76
  27  Bowl            1.891          1.095          -0.365         0              270            0              90
  28  Fork            -0.053         0.696          0.181          0              270            0              82
  29  Cup             0.101          0.750          -1.938         0              0              0              93
  30  Ladle           0.969          0.948          -1.929         0              180            0              83
  31  Apple           1.884          0.111          0.080          0              0              0              86
  32  Kettle          -0.290         0.764          -1.952         0              0              0              93
  33  Vase            2.798          0.554          0.193          0              180            0              89
  34  Potato          -0.205         0.943          0.135          0              0              0              76
  35  Pot             -1.056         0.956          -0.672         0              180            0              55
  36  Bread           -1.148         0.981          -0.193         0              0              0              76
  37  Plate           -1.313         1.660          0.163          0              0              0              67
  38  Spatula         -0.031         0.778          -1.897         0              270            0              93
  39  PaperTowelRoll  1.963          0.167          0.138          0              90             0              86
  40  Vase            2.699          0.869          0.182          0              0              0              87
  41  Egg             2.000          0.850          -0.737         0              270            0              90
  42  SoapBottle      1.349          1.653          -2.200         0              90             0              56
  43  SaltShaker      2.491          0.876          0.114          0              180            0              87
  44  Lettuce         2.000          1.504          -0.737         0              270            0              90
  45  PepperShaker    -0.152         1.127          0.441          0              0              0              79
  46  ButterKnife     -1.138         0.911          -1.929         0              0              0              83
  47  DishSponge      -0.993         0.910          -1.806         0              0              0              83
  48  Vase            2.979          0.539          0.128          0              0              0              89
  49  Spoon           -1.259         0.912          -2.182         0              0              0              83
  50  Tomato          -1.322         0.960          -1.384         0              0              0              83
  51  Mug             0.501          0.955          -1.900         0              0              0              99
  52  Statue          -0.997         0.920          -0.231         0              90             0              76
  53  Drawer          -0.819         0.75           -1.690         0              0              0
  54  Cabinet         -1.149         2.264          -0.838         0              90             0
  55  StoveBurner     -1.056         0.949          -0.671         0              180            0
  56  Cabinet         1.738          2.019          -2.000         0              0              0
  57  Cabinet         1.389          0.469          -1.059         0              0              0
  58  StoveBurner     -1.289         0.949          -0.755         0              180            0
  59  Faucet          -0.157         1.052          -2.196         0              270            0
  60  Cabinet         1.75           2.019          -1.029         0              0              0
  61  Cabinet         1.75           2.019          -1.399         0              0              0
  62  Cabinet         1.179          2.019          -2.0           0              0              0
  63  Cabinet         0.199          2.019          -2.0           0              0              0
  64  Cabinet         -1.100         2.019          -2.0           0              0              0
  65  Cabinet         -1.149         2.019          -1.979         0              0              0
  66  Cabinet         -1.149         2.019          -0.770         0              0              0
  67  Cabinet         -1.149         2.019          0.380          0              0              0
  68  Cabinet         -0.819         0.469          -1.689         0              0              0
  69  Cabinet         -0.839         0.469          -1.664         0              0              0
  70  Cabinet         -0.839         0.469          -0.049         0              0              0
  71  Cabinet         -0.414         0.370          -0.009         0              0              0
  72  Sink            -0.118         0.875          -2.009         0              0              0
  73  StoveBurner     -1.289         0.949          -1.019         0              0              0
  74  Cabinet         0.119          2.264          -2.0           0              0              0
  75  Cabinet         -0.459         2.264          -2.0           0              0              0
  76  CounterTop      -0.665         0.949          0.188          0              0              0
  77  Drawer          -0.449         0.75           -0.010         0              180            0
  78  Cabinet         -0.450         0.469          -0.009         0              0              0
  79  CounterTop      -0.630         1.167          0.573          0              0              0
  80  StoveBurner     -1.056         0.949          -1.126         0              0              0
  81  Cabinet         1.376          0.460          -1.685         0              0              0
  82  Drawer          -0.070         0.75           -0.009         0              180            0
  83  CounterTop      1.159          0.946          -2.013         0              0              0
  84  Cabinet         -1.150         2.264          -1.418         0              90             0
  85  HousePlant      -1.246         1.108          0.606          0              0              0
  86  GarbageCan      1.923          -0.010         0.137          0              0              0
  87  Shelf           2.759          0.880          0.144          0              0              0
  88  Microwave       1.827          0.900          -1.354         0              270            0
  89  Shelf           2.759          0.552          0.145          0              0              0
  90  Fridge          1.975          0.0            -0.537         0              0              0
  91  LightSwitch     0.404          1.297          2.0            0              180            0
  92  Shelf           2.760          0.172          0.145          0              0              0
  93  SinkBasin       -0.129         0.752          -2.007         0              0              0
  94  StoveKnob       -0.873         0.903          -0.827         45             90             0
  95  StoveKnob       -0.873         0.903          -0.676         45             90             0
  96  StoveKnob       -0.873         0.903          -0.966         45             90             0
  97  StoveKnob       -0.873         0.903          -1.123         45             90             0
  98  Toaster         0.840          0.900          -2.057         0              0              0
  99  CoffeeMachine   0.501          0.900          -2.125         0              0              0
 100  ShelvingUnit    2.760          0.006          0.144          0              0              0
 101  Stool           -0.826         0.010          0.908          0              347.513        0
 102  Stool           -0.132         0.010          0.883          0              71.555         0
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: Turn right, walk to the refrigerator | STEP 2: Open the refrigerator, take the cup out of the refrigerator, close the refrigerator | STEP 3: Turn around, walk to the microwave on the left | STEP 4: Open the microwave, put the cup in, close the microwave, turn on the microwave, open the microwave, take the cup out, close the microwave | STEP 5: Turn left, walk pass the refrigerator, turn right, walk to the shelf | STEP 6: Put the cup on the shelf by the red ball | END