Task: place a microwaved cup down on the kitchen shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          1.0            0              180            0
   1  Ladle           -1.316         1.704          -1.792         0              90             0              47
   2  Ladle           1.738          0.957          -1.680         0              0              0              64
   3  DishSponge      1.669          0.880          2.456          0              0              0              90
   4  DishSponge      1.690          0.120          -1.397         0              270            0              58
   5  ButterKnife     -0.137         0.764          -2.026         0              0              0              76
   6  Spatula         0.408          0.941          1.220          0              0              0              81
   7  Fork            -0.047         0.931          1.220          0              0              0              81
   8  Fork            0.294          0.931          0.991          0              0              0              81
   9  Egg             0.066          0.984          0.305          0              0              0              81
  10  Egg             1.850          0.967          -2.085         0              0              0              64
  11  Cup             0.325          1.659          -2.200         0              0              0              53
  12  Cup             -0.657         0.112          -1.961         0              0              0              57
  13  Plate           0.180          0.934          0.534          0              0              0              81
  14  Knife           0.921          0.936          -2.169         0              90             0              64
  15  SoapBottle      1.876          1.656          -1.240         0              270            0              55
  16  Bowl            -0.047         0.927          0.991          0              0              0              81
  17  Bowl            -0.283         0.761          -2.026         0              0              0              76
  18  Lettuce         0.180          1.011          1.220          0              0              0              81
  19  PepperShaker    -0.047         0.926          0.305          0              0              0              81
  20  Mug             1.261          0.951          -1.934         0              0              0              74
  21  Mug             1.773          0.548          2.431          0              0              0              90
  22  Apple           -1.186         1.086          -1.794         0              90             0              70
  23  Potato          -0.963         0.942          -2.115         0              0              0              64
  24  Bowl            -1.553         1.180          -0.910         0              180            0              72
  25  SoapBottle      1.828          0.912          -1.095         0              0              0              64
  26  Fork            0.408          0.931          0.534          0              180            0              81
  27  Ladle           0.503          1.703          -2.162         0              0              0              53
  28  Bread           0.399          0.964          0.110          0              0              1.601          81
  29  Lettuce         -1.429         0.925          -0.542         0              315            0              72
  30  WineBottle      1.738          0.914          -1.446         0              0              0              64
  31  Spatula         -0.064         0.779          -1.936         0              270            0              76
  32  Plate           1.557          0.916          -1.212         0              0              0              64
  33  SaltShaker      -0.720         0.909          -2.134         0              0              0              64
  34  Pot             1.567          0.948          -0.757         0              0              0              46
  35  Cup             1.871          1.657          -1.737         0              270            0              54
  36  PepperShaker    -1.355         1.655          -1.542         0              90             0              47
  37  Pan             1.824          0.945          -0.346         0              0              0              45
  38  ButterKnife     -0.047         0.930          0.534          0              0              0              81
  39  Tomato          -0.047         0.978          0.762          0              0              0              81
  40  DishSponge      1.958          0.086          0.121          0              0              0              65
  41  Egg             -1.610         0.913          -1.013         0              90             0              72
  42  Spoon           -0.047         0.931          0.076          0              0              0              81
  43  Knife           1.850          0.936          -1.834         0              0              0              64
  44  Mug             -1.380         1.178          -0.495         0              90             0              72
  45  StoveBurner     1.845          0.940          -0.355         0              0              0
  46  StoveBurner     1.567          0.940          -0.757         0              0              0
  47  Cabinet         -1.149         2.019          -1.979         0              90             0
  48  Cabinet         -1.149         2.265          -0.834         0              90             0
  49  Cabinet         -0.459         2.265          -2.0           0              0              0
  50  Cabinet         -1.100         2.019          -2.0           0              0              0
  51  Cabinet         1.719          2.019          -2.0           0              0              0
  52  Cabinet         1.179          2.019          -2.0           0              0              0
  53  Cabinet         0.199          2.019          -2.0           0              0              0
  54  Cabinet         1.75           2.019          -1.399         0              270            0
  55  Cabinet         1.75           2.019          -1.029         0              270            0
  56  Cabinet         1.379          0.469          -1.689         0              0              0
  57  Cabinet         -0.819         0.469          -1.689         0              0              0
  58  Cabinet         1.389          0.469          -1.059         0              270            0
  59  Cabinet         -0.839         0.469          -1.665         0              90             0
  60  StoveBurner     1.567          0.940          -0.355         0              0              0
  61  StoveBurner     1.845          0.940          -0.757         0              0              0
  62  Sink            -0.109         0.893          -2.009         0              0              0
  63  Drawer          -0.819         0.75           -1.690         0              0              0
  64  CounterTop      0.232          0.949          -2.002         0              0              0
  65  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  66  Vase            0.251          0.546          0.475          0              270            0
  67  Toaster         0.780          0.900          -2.080         0              0              0
  68  LightSwitch     0.108          1.315          2.75           0              180            0
  69  Vase            0.400          0.925          0.218          0              180            0
  70  Microwave       -1.233         0.900          -1.680         0              90             0
  71  Vase            1.465          1.662          -2.200         0              0              0
  72  Fridge          -1.495         0.0            -0.703         0              0              0
  73  Window          2.114          1.495          1.072          90             270            0
  74  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  75  Vase            0.333          0.546          1.272          0              270            0
  76  SinkBasin       -0.148         0.753          -2.026         0              0              0
  77  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  79  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  80  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  81  DiningTable     0.170          0.005          0.678          0              270            0
  82  Shelf           0.170          0.155          0.678          0              270            0
  83  Shelf           1.605          0.172          2.480          0              0              0
  84  Shelf           1.605          0.552          2.480          0              0              0
  85  Shelf           1.604          0.880          2.479          0              0              0
  86  ShelvingUnit    1.605          0.006          2.480          0              0              0
  87  Faucet          -0.143         1.028          -2.223         0              270            0
  88  Stool           -0.553         0.000          0.871          1.233          280.376        0
  89  Shelf           0.170          0.528          0.678          0              270            0
  90
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: turn around and walk to the end of the room, then turn right and walk to the end of the room again, turn left to face the three brown shelves | STEP 2: grab the cup off of the middle shelf | STEP 3: turn around and walk to the end of the room, then turn right and walk to the end again | STEP 4: place the cup inside of the microwave, turn on the microwave, then take the cup back out | STEP 5: turn around and walk to the end of the kitchen counter, then turn left and walk to the end of the room where the three shelves are | STEP 6: place the cup down on the second kitchen shelf | END