Task: Place a heated cup on a shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.900          1.75           0              0              0
   1  Pan             1.328          0.957          -1.420         0              180            0              55
   2  Book            -2.996         0.875          3.296          0              270            0              53
   3  ButterKnife     0.617          0.912          -1.674         0              0              0              51
   4  ButterKnife     -2.659         0.874          2.715          0              0              0              53
   5  WineBottle      -0.897         0.193          2.097          0              90             0              81
   6  Spatula         -0.833         0.927          -1.572         0              90             0              51
   7  Fork            -1.516         0.912          -0.939         0              0              0              51
   8  Spoon           -2.525         0.879          2.878          0              135            0              53
   9  Cup             -2.525         0.876          3.565          0              225            0              53
  10  Cup             -2.183         0.910          -0.614         0              0              0              51
  11  Bowl            -2.659         0.872          3.728          0              0              0              53
  12  Bowl            1.648          0.112          -1.412         0              0              0              71
  13  SaltShaker      0.997          2.153          -1.747         0              0              0              65
  14  SaltShaker      -1.686         0.115          -0.691         0              0              0              56
  15  Bread           0.079          1.655          2.100          0              180            0              76
  16  Lettuce         0.571          0.977          -1.369         0              0              0              51
  17  Lettuce         0.525          0.977          -1.674         0              0              0              51
  18  Apple           -0.330         0.752          -1.678         0              270            0              80
  19  Book            -0.403         0.118          -1.413         0              0              0              60
  20  Fork            -0.330         0.708          -1.573         0              270            0              80
  21  Tomato          0.709          0.959          -1.572         0              0              0              51
  22  Egg             0.079          0.414          2.054          0              180            0              76
  23  Kettle          0.974          0.957          -1.688         0              180            0              50
  24  Vase            3.671          0.168          1.841          0              0              0              74
  25  Cup             1.597          1.653          -1.634         0              0              0              61
  26  WineBottle      -3.165         0.879          3.221          0              270            0              53
  27  Plate           0.079          0.807          2.251          0              180            0              76
  28  Spatula         -2.472         0.893          3.513          0              225            0              53
  29  Potato          0.234          0.965          -1.718         0              270            0              48
  30  Pot             -1.602         0.901          -0.172         0              308.119        0              51
  31  Knife           -1.738         0.934          -0.614         0              0              0              51
  32  SaltShaker      1.760          0.906          -1.437         0              0              0              71
  33  PepperShaker    -3.174         0.874          3.422          0              135            0              53
  34  Lettuce         -2.697         0.939          2.945          0              135            0              53
  35  ButterKnife     -3.017         0.878          2.863          0              225            0              53
  36  Bread           -2.152         0.961          3.221          0              270            0              53
  37  Vase            3.793          0.554          1.968          0              270            0              74
  38  DishSponge      0.014          0.928          -1.356         0              270            0              48
  39  Apple           0.193          1.199          2.286          0              180            0              76
  40  Pan             1.328          0.957          -1.688         0              180            0              54
  41  Spoon           -2.405         0.875          2.758          0              135            0              53
  42  SoapBottle      0.069          0.929          -1.646         0              270            0              48
  43  Mug             -1.331         1.652          -1.637         0              0              0              64
  44  Statue          3.845          0.559          1.449          0              270            0              74
  45  Statue          -3.017         0.873          3.580          0              315            0              53
  46  Bowl            -2.196         0.872          3.475          0              225            0              53
  47  Cabinet         -2.171         2.009          -1.538         0              0              0
  48  Sink            0.024          0.771          -1.708         0              270            0
  49  Cabinet         1.444          2.259          -1.542         0              0              0
  50  StoveBurner     0.974          0.957          -1.688         0              180            0
  51  CounterTop      -1.866         0.947          -0.614         0              0              0
  52  Cabinet         -2.217         0.373          -1.874         0              0              0
  53  DiningTable     -2.663         0.002          3.208          0              0              0
  54  StoveBurner     1.328          0.957          -1.688         0              180            0
  55  StoveBurner     1.328          0.957          -1.420         0              180            0
  56  Cabinet         -1.478         0.373          -1.235         0              0              0
  57  Cabinet         1.775          0.372          -1.242         0              0              0
  58  Cabinet         0.774          0.372          -1.242         0              0              0
  59  Cabinet         0.375          0.372          -1.242         0              0              0
  60  Cabinet         -0.574         0.372          -1.238         0              0              0
  61  Cabinet         1.775          2.009          -1.542         0              0              0
  62  Cabinet         0.524          2.009          -1.542         0              0              0
  63  Cabinet         -0.714         2.009          -1.542         0              0              0
  64  Cabinet         -1.671         2.009          -1.538         0              0              0
  65  Cabinet         0.854          2.259          -1.542         0              0              0
  66  Drawer          -1.636         0.683          -0.930         0              0              0
  67  Drawer          1.650          0.682          -1.396         0              0              0
  68  Drawer          0.600          0.682          -1.396         0              0              0
  69  StoveBurner     0.974          0.957          -1.419         0              180            0
  70  Drawer          -2.062         0.683          -1.579         0              0              0
  71  CounterTop      1.645          0.945          -1.527         0              0              0
  72  Shelf           3.725          0.880          1.671          0              90             0
  73  LightSwitch     2.830          1.266          -0.748         0              0              0
  74  Shelf           3.726          0.552          1.671          0              90             0
  75  Microwave       1.150          1.655          -1.614         0              0              0
  76  Fridge          -0.035         0.0            2.177          0              180            0
  77  Window          -0.115         1.802          -1.896         90             0              0
  78  Window          -4.009         1.799          0.310          90             90             0
  79  Shelf           3.726          0.172          1.671          0              90             0
  80  SinkBasin       -0.330         0.686          -1.581         0              270            0
  81  GarbageCan      -0.870         -0.001         2.136          0              90             0
  82  StoveKnob       1.089          0.913          -1.243         45             0              0
  83  StoveKnob       1.208          0.913          -1.243         45             0              0
  84  StoveKnob       1.340          0.913          -1.243         45             0              0
  85  StoveKnob       0.961          0.913          -1.243         45             0              0
  86  Toaster         1.637          0.900          -1.673         0              0              0
  87  Chair           -3.505         0.002          3.290          0              105.736        0
  88  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  89  HousePlant      -2.663         0.835          3.209          0              0              0
  90  Faucet          -0.187         0.922          -1.75          0              311.166        0
  91  ShelvingUnit    3.726          0.006          1.671          0              90             0
  92  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  93  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  94  Chair           -2.934         0.002          2.437          0              28.531         0
  95  Chair           -1.698         0.002          3.235          0              245.204        0
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: Turn left and move towards the refrigerator then turn left and move to the toaster next to the oven. | STEP 2: Open the cabinet door above the toaster, pick up the gold cup, and then close the cabinet. | STEP 3: Turn right and move to towards the oven then turn right and face the oven. | STEP 4: Open the microwave above the oven, microwave the gold cup, open the microwave again and pick up the gold cup.  | STEP 5: Turn left and move towards the wall then turn left again and move towards the refrigerator, then turn right and move towards the door, and finally turn left and move to the shelves in the corner of the room. | STEP 6: Place the gold cup on the right side of the shelves' top shelf. | END