Task: Put a warm cup on the shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.5           0.900          -1.0           0              270            0
   1  Book            1.651          0.906          -1.346         0              0              0              81
   2  Book            -1.888         1.654          -1.710         0              0              0              74
   3  ButterKnife     -2.592         0.878          3.393          0              225            0              63
   4  Kettle          0.974          0.957          -1.688         0              180            0              60
   5  WineBottle      -1.627         0.913          -1.591         0              0              0              61
   6  WineBottle      -2.321         0.879          2.999          0              270            0              63
   7  Spatula         -1.961         0.927          -1.265         0              90             0              61
   8  Spatula         -1.649         0.732          -0.930         0              90             0              76
   9  Pot             1.328          0.957          -1.688         0              180            0              64
  10  Pot             0.079          1.574          2.100          0              180            0              86
  11  Fork            -1.748         0.720          -0.930         0              90             0              76
  12  Fork            -2.148         0.719          -1.510         0              90             0              80
  13  Spoon           -2.248         0.875          2.916          0              135            0              63
  14  Egg             0.079          0.414          1.967          0              180            0              86
  15  Egg             -0.263         0.828          2.023          0              180            0              86
  16  Knife           -1.961         0.934          0.363          0              0              0              61
  17  SoapBottle      -2.152         0.879          3.073          0              270            0              63
  18  SoapBottle      -3.165         0.879          3.147          0              270            0              63
  19  Tomato          -1.627         0.959          -0.939         0              0              0              61
  20  Tomato          -2.436         0.925          3.728          0              0              0              63
  21  Bowl            -2.807         0.876          2.884          0              0              0              63
  22  Bowl            -2.510         0.872          2.884          0              0              0              63
  23  SaltShaker      -1.849         0.908          0.363          0              0              0              61
  24  Bread           0.571          0.995          -1.369         0              0              0              61
  25  Bread           -2.659         0.958          3.559          0              0              0              63
  26  Lettuce         -1.849         0.977          -1.265         0              0              0              61
  27  Mug             -1.961         0.907          -0.939         0              0              0              61
  28  Apple           0.307          0.858          2.137          0              180            0              86
  29  Book            -1.94          0.900          -1.693         0              0              0              80
  30  Fork            -2.487         0.875          3.288          0              225            0              63
  31  Tomato          -0.367         0.755          -1.573         0              270            0              90
  32  Egg             0.307          0.414          1.996          0              180            0              86
  33  Kettle          -1.331         1.658          -1.747         0              0              0              74
  34  Vase            3.671          0.168          1.841          0              0              0              84
  35  Cup             1.680          0.113          -1.487         0              0              0              81
  36  WineBottle      -0.844         0.193          2.174          0              90             0              91
  37  Plate           -2.088         0.123          -1.433         0              0              0              62
  38  Spatula         -2.996         0.893          2.999          0              0              0              63
  39  Potato          0.079          1.608          2.279          0              180            0              86
  40  Pot             3.637          0.555          1.553          0              270            0              84
  41  Knife           -2.072         0.934          -1.591         0              0              0              61
  42  SaltShaker      -1.686         0.115          -1.141         0              0              0              66
  43  PepperShaker    0.716          0.112          -1.370         0              0              0              68
  44  Lettuce         -2.248         0.939          3.527          0              225            0              63
  45  ButterKnife     0.069          0.930          -1.646         0              270            0              58
  46  Bread           -3.165         0.958          3.370          0              270            0              63
  47  Vase            0.207          0.115          -1.379         0              0              0              69
  48  DishSponge      0.591          0.116          -1.408         0              0              0              68
  49  Apple           -2.072         0.967          -1.265         0              0              0              61
  50  Pan             -0.034         0.802          2.194          0              180            0              86
  51  Spoon           0.289          0.929          -1.646         0              90             0              58
  52  SoapBottle      -1.378         0.912          -1.471         0              0              0              61
  53  Mug             -1.112         0.958          -1.479         0              0              0              98
  54  Statue          3.676          0.168          1.410          0              334.521        0              84
  55  Statue          3.668          0.540          1.800          0              0              0              84
  56  Bowl            -2.072         0.910          -0.614         0              0              0              61
  57  Cabinet         -2.171         2.009          -1.538         0              0              0
  58  Sink            0.024          0.771          -1.708         0              270            0
  59  Cabinet         1.444          2.259          -1.542         0              0              0
  60  StoveBurner     0.974          0.957          -1.688         0              180            0
  61  CounterTop      -1.866         0.947          -0.614         0              0              0
  62  Cabinet         -2.217         0.373          -1.874         0              0              0
  63  DiningTable     -2.663         0.002          3.208          0              0              0
  64  StoveBurner     1.328          0.957          -1.688         0              180            0
  65  StoveBurner     1.328          0.957          -1.420         0              180            0
  66  Cabinet         -1.478         0.373          -1.235         0              0              0
  67  Cabinet         1.775          0.372          -1.242         0              0              0
  68  Cabinet         0.774          0.372          -1.242         0              0              0
  69  Cabinet         0.375          0.372          -1.242         0              0              0
  70  Cabinet         -0.574         0.372          -1.238         0              0              0
  71  Cabinet         1.775          2.009          -1.542         0              0              0
  72  Cabinet         0.524          2.009          -1.542         0              0              0
  73  Cabinet         -0.714         2.009          -1.542         0              0              0
  74  Cabinet         -1.671         2.009          -1.538         0              0              0
  75  Cabinet         0.854          2.259          -1.542         0              0              0
  76  Drawer          -1.636         0.683          -0.930         0              0              0
  77  Drawer          1.650          0.682          -1.396         0              0              0
  78  Drawer          0.600          0.682          -1.396         0              0              0
  79  StoveBurner     0.974          0.957          -1.419         0              180            0
  80  Drawer          -2.062         0.683          -1.579         0              0              0
  81  CounterTop      1.645          0.945          -1.527         0              0              0
  82  Shelf           3.725          0.880          1.671          0              90             0
  83  LightSwitch     2.830          1.266          -0.748         0              0              0
  84  Shelf           3.726          0.552          1.671          0              90             0
  85  Microwave       1.150          1.655          -1.614         0              0              0
  86  Fridge          -0.035         0.0            2.177          0              180            0
  87  Window          -0.115         1.802          -1.896         90             0              0
  88  Window          -4.009         1.799          0.310          90             90             0
  89  Shelf           3.726          0.172          1.671          0              90             0
  90  SinkBasin       -0.330         0.686          -1.581         0              270            0
  91  GarbageCan      -0.870         -0.001         2.136          0              90             0
  92  StoveKnob       1.089          0.913          -1.243         45             0              0
  93  StoveKnob       1.208          0.913          -1.243         45             0              0
  94  StoveKnob       1.340          0.913          -1.243         45             0              0
  95  StoveKnob       0.961          0.913          -1.243         45             0              0
  96  Toaster         1.637          0.900          -1.673         0              0              0
  97  Chair           -3.505         0.002          3.290          0              105.736        0
  98  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  99  HousePlant      -2.663         0.835          3.209          0              0              0
 100  Faucet          -0.187         0.922          -1.75          0              311.166        0
 101  ShelvingUnit    3.726          0.006          1.671          0              90             0
 102  Stool           -2.501         -0.000         0.062          1.223          91.243         0
 103  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 104  Chair           -2.934         0.002          2.437          0              28.531         0
 105  Chair           -1.698         0.002          3.235          0              245.204        0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: Turn right, then turn right at the counter, then go straight, then go right toward the stove. | STEP 2: Take the cup from the cabinet, to the left of the stove. | STEP 3: Turn right and turn left to go toward the stove. | STEP 4: Warm the cup in the microwave, above the stove. | STEP 5: Turn left, then turn left again, then turn right, then turn left to reach the shelf. | STEP 6: Place the cup on the top shelf.  | END