Task: heat the cup in the microwave, put the cup in the cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          -0.25          0              180            0
   1  Pan             1.007          0.962          0.561          0              270            0              56
   2  Potato          0.009          0.942          -1.571         0              0              0              54
   3  Potato          -0.296         0.100          0.396          0              90             0              83
   4  DishSponge      -0.494         0.773          -1.505         0              0              0              58
   5  DishSponge      -1.035         0.773          -1.505         0              0              0              67
   6  ButterKnife     1.846          0.912          0.292          0              0              0              69
   7  Spoon           -1.292         0.774          -1.472         0              270            0              67
   8  Spoon           1.791          0.774          0.339          0              270            0              55
   9  Spatula         -2.477         0.967          0.345          0              90             0              87
  10  Spatula         1.412          0.927          -1.406         0              0              0              54
  11  Egg             -2.397         0.815          -1.849         0              0              0              84
  12  Egg             -2.31          0.546          -1.634         0              0              0              84
  13  Cup             -0.538         0.109          -1.582         0              0              0              68
  14  Cup             -2.477         0.950          0.165          0              90             0              87
  15  Plate           -0.096         0.111          -1.508         0              0              0              63
  16  Plate           0.271          0.109          -1.509         0              180            0              51
  17  Knife           -2.065         0.977          0.345          0              270            0              87
  18  Knife           -1.791         0.977          0.435          0              90             0              87
  19  Tomato          -0.394         0.119          0.525          0              90             0              83
  20  Tomato          1.846          0.961          0.623          0              0              0              69
  21  Bowl            1.663          0.911          0.623          0              0              0              69
  22  Bowl            0.562          0.109          0.270          0              0              0              65
  23  PepperShaker    -1.928         0.948          0.704          0              90             0              87
  24  PepperShaker    -2.614         0.948          0.524          0              90             0              87
  25  Bread           1.724          0.995          0.375          0              0              0              69
  26  Knife           1.412          0.937          -1.654         0              0              0              54
  27  Fork            0.960          0.920          -1.649         0              270            0              52
  28  Bowl            1.608          1.328          -1.772         0              180            0              70
  29  Kettle          1.361          0.962          0.561          0              270            0              59
  30  Cup             0.701          0.917          -1.449         0              270            0              52
  31  Tomato          1.907          0.961          0.458          0              0              0              69
  32  SoapBottle      1.907          0.910          0.209          0              0              0              69
  33  Plate           -2.203         0.953          0.255          0              90             0              87
  34  Pot             -2.383         0.94           0.583          0              0              0              87
  35  Spatula         0.649          0.934          -1.782         0              90             0              52
  36  PaperTowelRoll  -0.175         1.016          -1.737         0              0              0              54
  37  Egg             -1.791         0.987          0.255          0              90             0              87
  38  Lettuce         -0.359         1.002          -1.654         0              0              0              54
  39  SaltShaker      0.167          0.908          0.540          0              0              0              53
  40  PepperShaker    -2.203         0.948          0.524          0              90             0              87
  41  Apple           0.432          0.979          0.292          0              0              0              53
  42  ButterKnife     -0.359         0.912          -1.406         0              0              0              54
  43  Potato          1.535          0.942          -1.903         0              0              0              54
  44  Pan             -0.569         1.328          -1.809         0              270            0              48
  45  DishSponge      0.564          0.911          0.209          0              0              0              53
  46  Spoon           -2.614         0.953          0.435          0              90             0              87
  47  Mug             -1.928         0.947          0.165          0              90             0              87
  48  Cabinet         -0.193         1.688          -1.648         0              180            0
  49  StoveBurner     1.360          0.957          0.293          0              180            0
  50  Drawer          0.499          0.792          0.296          0              0              0
  51  Cabinet         0.095          0.400          -1.352         0              180            0
  52  Sink            0.711          0.817          -1.772         0              270            0
  53  CounterTop      0.280          0.947          0.458          0              0              0
  54  CounterTop      -0.680         0.947          -1.654         0              0              0
  55  Drawer          1.825          0.792          0.296          0              0              0
  56  StoveBurner     1.007          0.957          0.561          0              270            0
  57  Drawer          -0.150         0.792          -1.496         0              0              0
  58  Drawer          -0.586         0.792          -1.496         0              0              0
  59  StoveBurner     1.360          0.957          0.561          0              270            0
  60  Drawer          0.024          0.792          0.296          0              0              0
  61  Cabinet         1.079          0.400          -1.349         0              180            0
  62  Cabinet         1.669          0.402          0.151          0              0              0
  63  Cabinet         0.055          0.402          -1.351         0              0              0
  64  Cabinet         -0.180         0.402          0.151          0              0              0
  65  Cabinet         0.729          0.402          0.151          0              0              0
  66  StoveBurner     1.007          0.957          0.293          0              180            0
  67  Drawer          -1.100         0.792          -1.496         0              0              0
  68  Cabinet         -0.396         0.402          -1.351         0              0              0
  69  CounterTop      1.776          0.947          0.458          0              0              0
  70  Cabinet         1.974          1.688          -1.648         0              180            0
  71  Cabinet         -0.820         0.400          -1.349         0              180            0
  72  Toaster         0.305          0.900          0.552          0              180            0
  73  LightSwitch     -2.756         1.307          -0.987         0              90             0
  74  Window          0.582          1.613          -1.967         90             0              0
  75  Window          1.969          1.5            -0.615         90             270            0
  76  Microwave       -1.037         0.900          -1.723         0              0              0
  77  SinkBasin       0.377          0.765          -1.655         0              270            0
  78  CoffeeMachine   0.618          0.900          0.600          0              180            0
  79  StoveKnob       1.246          0.913          0.118          45             180            0
  80  StoveKnob       1.373          0.913          0.118          45             180            0
  81  StoveKnob       0.995          0.913          0.118          45             180            0
  82  StoveKnob       1.126          0.913          0.118          45             180            0
  83  GarbageCan      -0.368         -0.029         0.539          0              90             0
  84  Fridge          -2.134         0.0            -1.690         0              0              0
  85  Faucet          0.549          1.046          -1.833         0              232.527        0
  86  Stool           -1.475         0.000          0.414          1.233          280.375        0
  87  DiningTable     -2.255         -0.004         0.432          0              0              0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: turn right, walk to the white table on the right | STEP 2: grab the cup on the table | STEP 3: turn around to the microwave | STEP 4: open the microwave, heat the cup in it for a while, take the cup out | STEP 5: turn around, turn around to the cabinet | STEP 6: open the right cabinet door, put the cup in the cabinet | END