Task: To put the cups away.

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          -1.75          0              270            0
   1  Pan             -0.036         0.950          -2.576         0              270            0              59
   2  Plate           -1.755         0.133          -1.856         0              90             0              57
   3  Plate           -1.908         0.766          -1.673         0              90             0              91
   4  Cup             -0.328         1.788          -2.578         0              0              0              82
   5  Cup             -1.982         1.303          1.092          0              90             0              89
   6  Cup             -1.665         0.127          0.248          0              90             0              62
   7  Tomato          -1.999         0.265          1.168          0              90             0              89
   8  SaltShaker      2.100          0.549          -2.666         0              180            0              86
   9  SaltShaker      -1.805         0.132          -1.389         0              90             0              57
  10  PepperShaker    -1.611         0.907          -0.698         0              0              0              81
  11  Bread           0.355          1.184          -0.759         0              0              0              56
  12  Lettuce         -0.848         0.991          -2.560         0              0              0              81
  13  Apple           -1.999         1.553          1.008          0              90             0              89
  14  Fork            -1.438         0.911          -2.406         0              0              0              81
  15  Kettle          -1.963         0.770          -1.328         0              90             0              91
  16  WineBottle      0.336          0.141          -2.337         0              0              0              73
  17  WineBottle      0.840          0.911          -2.253         0              0              0              58
  18  DishSponge      -1.824         0.477          -0.100         0              90             0              71
  19  DishSponge      0.969          0.910          -2.253         0              0              0              58
  20  Bowl            -0.059         1.108          -0.253         0              0              0              56
  21  Book            -0.335         1.110          0.757          0              0              0              56
  22  Glassbottle     0.711          0.911          -2.330         0              0              0              58
  23  Knife           0.840          0.936          -2.637         0              90             0              58
  24  Bread           -1.290         0.983          -2.560         0              0              0              81
  25  Fork            -1.696         0.794          0.155          0              90             0              53
  26  Potato          -0.173         1.820          -2.514         0              0              0              82
  27  SoapBottle      1.993          0.881          -2.590         0              180            0              83
  28  Kettle          -1.457         1.659          -2.567         0              90             0              72
  29  Pan             -0.465         0.950          -2.372         0              90             0              54
  30  Plate           -0.335         1.108          0.251          0              0              0              56
  31  Tomato          -2.158         1.348          0.925          0              90             0              89
  32  Vase            2.042          0.540          -2.495         0              0              0              86
  33  Egg             -1.742         0.804          -1.328         0              90             0              91
  34  CreditCard      1.891          0.877          -2.536         0              180            0              83
  35  Statue          -0.335         1.110          -0.759         0              0              0              56
  36  WineBottle      -1.935         0.048          2.029          0              270            0              87
  37  Pot             -1.219         0.9            -2.356         0              0              0              81
  38  Spatula         0.711          0.925          -2.484         0              0              0              58
  39  PaperTowelRoll  -1.438         1.015          -2.483         0              0              0              81
  40  Cup             0.969          0.908          -2.714         0              0              0              58
  41  Vase            0.079          1.109          -0.001         0              0              0              56
  42  Bowl            0.355          1.108          -0.001         0              0              0              56
  43  SaltShaker      -0.995         0.907          -2.637         0              0              0              81
  44  PepperShaker    -1.574         0.907          -1.869         0              0              0              81
  45  Lettuce         -2.080         0.620          1.085          0              90             0              89
  46  ButterKnife     -1.740         0.794          -0.252         0              90             0              55
  47  Apple           -0.995         0.961          -2.329         0              0              0              81
  48  DishSponge      -1.852         0.769          -1.501         0              90             0              91
  49  Spoon           0.217          1.112          0.504          0              0              0              56
  50  Mug             -1.731         0.956          -0.168         0              90             0              90
  51  StoveBurner     -0.036         0.915          -2.372         0              0              0
  52  Drawer          0.949          0.832          -2.197         0              0              0
  53  Drawer          -1.560         0.839          0.204          0              90             0
  54  StoveBurner     -0.465         0.915          -2.371         0              180            0
  55  Drawer          -1.560         0.839          -0.197         0              90             0
  56  CounterTop      -0.079         1.147          -0.001         0              0              0
  57  Cabinet         -1.549         0.494          -1.964         0              90             0
  58  CounterTop      0.693          0.946          -2.483         0              0              0
  59  StoveBurner     -0.036         0.915          -2.576         0              0              0
  60  Drawer          0.949          0.393          -2.200         0              0              0
  61  Drawer          0.949          0.708          -2.200         0              0              0
  62  Cabinet         -1.549         0.494          0.379          0              90             0
  63  StoveKnob       -0.022         0.881          -2.187         45             0              0
  64  Drawer          0.949          0.560          -2.201         0              0              0
  65  StoveBurner     -0.465         0.915          -2.575         0              180            0
  66  Window          -2.230         1.429          -1.203         0              0              0
  67  StoveKnob       -0.483         0.881          -2.187         45             0              0
  68  Sink            -1.899         0.964          -1.5           0              90             0
  69  StoveKnob       -0.328         0.881          -2.187         45             0              0
  70  Cabinet         -0.727         2.015          -2.460         0              0              0
  71  Drawer          -1.560         0.655          -0.196         0              90             0
  72  Cabinet         -1.685         2.015          -2.461         0              0              0
  73  Cabinet         0.680          0.494          -2.200         0              0              0
  74  Cabinet         -1.179         0.494          -2.200         0              0              0
  75  Cabinet         -1.849         2.015          0.379          0              90             0
  76  Drawer          0.949          0.221          -2.200         0              0              0
  77  StoveKnob       -0.183         0.881          -2.187         45             0              0
  78  Cabinet         0.719          2.015          -2.460         0              0              0
  79  Drawer          -1.560         0.331          -0.196         0              90             0
  80  Cabinet         0.680          2.015          -2.460         0              0              0
  81  CounterTop      -1.868         0.946          -1.205         0              0              0
  82  Microwave       -0.236         1.689          -2.525         0              0              0
  83  Shelf           1.751          0.880          -2.560         0              0              0
  84  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  85  Toaster         -1.835         0.900          0.134          0              90             0
  86  Shelf           1.750          0.552          -2.559         0              0              0
  87  GarbageCan      -1.935         -0.002         2.029          0              270            0
  88  Shelf           1.750          0.172          -2.559         0              0              0
  89  Fridge          -2.096         0.0            1.088          0              0              0
  90  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  91  SinkBasin       -1.908         0.759          -1.488         0              90             0
  92  LightSwitch     2.329          1.309          -0.159         0              270            0
  93  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  94  Stool           0.702          0.000          -0.514         1.202          65.108         0
  95  Stool           0.743          0.000          0.563          1.227          106.706        0
  96  Faucet          -2.070         1.132          -1.514         0              0              0
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: Turn around and walk to the edge of the counter, then turn right to face it.  | STEP 2: Take the glass cup off of the counter.  | STEP 3: Turn around and take one step, then turn around.  | STEP 4: Put the glass cup on the second shelf to the left of the counter.  | STEP 5: Turn right and and take three steps, then turn left to face the stove.  | STEP 6: Open the microwave to take out the glass cup.  | STEP 7: Turn to the left and walk across the room, then turn to the right.  | STEP 8: Place the glass cup next to the other glass cup on the second shelf.  | END