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           -1.25          0.900          -2.0           0              0              0
   1  Pan             -1.471         0.940          -3.751         0              90             0              42
   2  Pan             -0.334         1.284          -0.529         0              0              0              72
   3  Potato          -0.471         0.846          -3.163         0              315            0              71
   4  Potato          -2.962         0.926          -0.633         0              270            0              79
   5  ButterKnife     -4.062         0.690          -0.491         0              0              0              77
   6  ButterKnife     -3.893         0.760          -3.160         0              109.125        0              78
   7  Spoon           -2.560         0.895          -0.462         0              270            0              79
   8  Spoon           -3.839         0.761          -3.570         0              199.125        0              78
   9  Spatula         -2.761         0.909          -0.204         0              0              0              79
  10  Spatula         -4.002         0.705          -0.430         0              0              0              77
  11  Egg             -4.002         0.732          -0.369         0              0              0              77
  12  Cup             -3.935         0.760          -2.959         0              334.125        0              78
  13  Bread           -3.163         0.976          -0.376         0              270            0              79
  14  Bread           -2.560         0.976          -0.376         0              270            0              79
  15  Lettuce         -3.713         0.851          -3.778         0              199.125        0              78
  16  SaltShaker      -0.157         0.937          -1.319         0              0              0              60
  17  PepperShaker    -3.565         0.890          -0.633         0              270            0              79
  18  PepperShaker    -0.394         0.937          -1.538         0              0              0              60
  19  Apple           -2.359         0.956          -0.119         0              270            0              79
  20  Apple           -2.354         0.161          -3.604         0              0              0              67
  21  SoapBottle      -3.423         0.758          -3.016         0              244.125        0              78
  22  Pot             -0.606         0.802          -3.419         0              315            0              71
  23  Fork            -0.721         0.814          -3.491         0              315            0              71
  24  Cup             -3.586         0.760          -2.841         0              199.125        0              78
  25  Tomato          -0.245         1.539          -0.878         0              270            0              72
  26  Pan             -0.222         0.961          -2.243         0              0              0              61
  27  Plate           -0.212         1.516          -3.052         0              0              0              59
  28  Bread           -3.925         0.841          -3.399         0              244.125        0              78
  29  Spatula         -4.182         0.705          -0.187         0              180            0              77
  30  Knife           -3.654         0.785          -3.681         0              64.125         0              78
  31  SaltShaker      -3.882         0.687          -0.430         0              0              0              77
  32  PepperShaker    -2.139         0.938          -3.439         0              0              0              42
  33  ButterKnife     -2.359         0.894          -0.290         0              270            0              79
  34  Apple           -4.002         0.751          -0.187         0              0              0              77
  35  DishSponge      -3.565         0.894          -0.462         0              270            0              79
  36  Potato          -3.329         0.792          -3.421         0              109.125        0              78
  37  Egg             -4.242         0.731          -0.248         0              0              0              77
  38  Spoon           -0.244         0.943          -2.847         0              0              0              42
  39  Lettuce         -3.565         0.985          -0.290         0              270            0              79
  40  Mug             -1.117         0.076          -3.532         0              0              0              57
  41  Bowl            -3.183         0.758          -3.472         0              109.125        0              78
  42  CounterTop      -1.937         0.977          -3.673         0              0              0
  43  StoveBurner     -0.437         0.924          -1.845         0              180            0
  44  StoveBurner     -0.222         0.924          -1.845         0              180            0
  45  StoveBurner     -0.437         0.924          -2.243         0              0              0
  46  Drawer          -0.500         0.779          -1.450         0              0              0
  47  Drawer          -0.481         0.777          -2.739         0              0              0
  48  Drawer          -1.154         0.782          -3.499         0              0              0
  49  Cabinet         -0.337         2.110          -0.390         0              0              0
  50  Cabinet         -0.337         2.110          -1.272         0              0              0
  51  Cabinet         -0.337         2.110          -1.631         0              0              0
  52  Cabinet         -0.337         2.110          -2.497         0              0              0
  53  Cabinet         -0.337         1.891          -1.286         0              0              0
  54  Cabinet         -0.346         1.891          -3.293         0              0              0
  55  Cabinet         -0.629         0.388          -2.513         0              0              0
  56  Cabinet         -0.633         0.388          -3.008         0              0              0
  57  Cabinet         -1.010         0.388          -3.368         0              0              0
  58  Cabinet         -0.629         0.388          -1.614         0              0              0
  59  Cabinet         -0.327         1.886          -2.513         0              0              0
  60  CounterTop      -0.326         0.976          -1.450         0              0              0
  61  StoveBurner     -0.222         0.924          -2.243         0              0              0
  62  Sink            -0.600         0.929          -3.388         0              0              0
  63  StoveKnob       -0.617         0.899          -1.833         315            90             180
  64  StoveKnob       -0.617         0.899          -2.129         315            90             180
  65  StoveKnob       -0.617         0.899          -2.289         315            90             180
  66  StoveKnob       -0.617         0.899          -1.975         315            90             180
  67  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  68  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  69  Window          -1.389         1.610          -4.113         90             0              0
  70  LightSwitch     -4.372         1.493          -1.031         0              90             0
  71  SinkBasin       -0.614         0.802          -3.384         0              315            0
  72  Fridge          -0.314         0.0            -0.646         0              0              0
  73  Toaster         -1.970         0.930          -3.763         0              0              0
  74  Microwave       -0.216         1.470          -2.054         0              270            0
  75  Blinds          -1.373         2.205          -3.961         0              0              0
  76  Faucet          -0.393         0.930          -3.614         270            225            0
  77  SideTable       -4.030         0.002          -0.301         0              185.034        0
  78  DiningTable     -3.586         0.000          -3.258         0              0              0
  79  DiningTable     -3.224         -0.003         -0.453         0              0              0
  80  Shelf           -4.030         0.259          -0.301         0              185.034        0
  81  Shelf           -4.030         0.489          -0.301         0              185.034        0
  82  EastWall
  83  EastWall
  84  SouthWall

Plan:
STEP 1: Turn around and walk towards the white door then hand a left and head to the round, black table | STEP 2: Pick up the black cup that is sitting to the right of the soap bottle | STEP 3: Turn left and cross the room to the Microwave that is above the stove | STEP 4: Place the cup into the microwave and close the door, then turn it on.  Open the microwave and pick up the cup then close the door | STEP 5: Turn around and cross the room, take a right at the white door and stand in front of the black shelf | STEP 6: Place the cup on the top shelf in the middle of the spatulas and eggs | END