Task: place a warm white cup on the middle brown shelf in the corner of the room

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              180            0
   1  Ladle           0.384          1.703          -2.162         0              0              0              51
   2  DishSponge      1.464          0.880          2.510          0              0              0              88
   3  DishSponge      -0.035         2.151          -2.120         0              0              0              47
   4  ButterKnife     0.294          0.930          0.991          0              0              0              79
   5  Pot             1.567          0.948          -0.757         0              0              0              44
   6  Spatula         -0.137         0.779          -1.981         0              270            0              74
   7  Spatula         0.066          0.941          0.534          0              0              0              79
   8  Egg             1.829          0.140          0.121          0              0              0              63
   9  Egg             0.119          0.967          -1.725         0              0              0              62
  10  Plate           1.403          1.663          -2.162         0              0              0              49
  11  Knife           0.180          0.950          1.220          0              180            0              79
  12  Tomato          -1.572         1.556          -1.013         0              90             0              70
  13  Bowl            1.359          0.549          2.482          0              0              0              82
  14  Lettuce         -0.283         0.845          -2.026         0              0              0              74
  15  Lettuce         -0.047         1.008          0.305          0              0              0              79
  16  PepperShaker    1.773          0.549          2.482          0              0              0              88
  17  PepperShaker    1.877          0.549          2.586          0              0              0              88
  18  Bread           0.066          0.975          0.991          0              0              0              79
  19  Mug             1.261          0.951          -1.934         0              0              0              72
  20  Apple           -1.495         0.930          -1.013         0              90             0              70
  21  Potato          0.180          0.956          0.076          0              0              0              79
  22  Bowl            1.690          0.117          -1.332         0              270            0              56
  23  SoapBottle      -0.463         0.912          -1.725         0              0              0              62
  24  Fork            0.180          0.927          1.448          0              0              0              79
  25  Ladle           -0.047         0.975          1.448          0              0              0              79
  26  Bread           0.294          0.972          0.534          0              0              0              79
  27  Lettuce         -1.429         0.925          -0.542         0              315            0              70
  28  WineBottle      1.915          0.087          0.006          0              0              0              63
  29  Spatula         0.522          0.945          0.534          0              0              0              79
  30  Plate           -1.316         1.663          -1.667         0              90             0              45
  31  SaltShaker      1.669          0.877          2.456          0              0              0              89
  32  Pot             -1.495         1.181          -0.806         0              180            0              70
  33  Cup             0.563          1.659          -2.238         0              0              0              51
  34  PepperShaker    -1.036         0.909          -2.260         0              0              0              62
  35  Pan             1.824          0.945          -0.346         0              0              0              43
  36  ButterKnife     1.919          0.913          -1.329         0              0              0              62
  37  Tomato          1.738          0.965          -1.563         0              0              0              62
  38  DishSponge      1.557          0.913          -1.446         0              0              0              62
  39  Egg             0.002          0.967          -1.725         0              0              0              62
  40  Spoon           0.408          0.931          1.448          0              0              0              79
  41  Knife           -0.064         0.787          -1.981         0              270            0              74
  42  Mug             0.180          0.921          0.762          0              0              0              79
  43  StoveBurner     1.845          0.940          -0.355         0              0              0
  44  StoveBurner     1.567          0.940          -0.757         0              0              0
  45  Cabinet         -1.149         2.019          -1.979         0              90             0
  46  Cabinet         -1.149         2.265          -0.834         0              90             0
  47  Cabinet         -0.459         2.265          -2.0           0              0              0
  48  Cabinet         -1.100         2.019          -2.0           0              0              0
  49  Cabinet         1.719          2.019          -2.0           0              0              0
  50  Cabinet         1.179          2.019          -2.0           0              0              0
  51  Cabinet         0.199          2.019          -2.0           0              0              0
  52  Cabinet         1.75           2.019          -1.399         0              270            0
  53  Cabinet         1.75           2.019          -1.029         0              270            0
  54  Cabinet         1.379          0.469          -1.689         0              0              0
  55  Cabinet         -0.819         0.469          -1.689         0              0              0
  56  Cabinet         1.389          0.469          -1.059         0              270            0
  57  Cabinet         -0.839         0.469          -1.665         0              90             0
  58  StoveBurner     1.567          0.940          -0.355         0              0              0
  59  StoveBurner     1.845          0.940          -0.757         0              0              0
  60  Sink            -0.109         0.893          -2.009         0              0              0
  61  Drawer          -0.819         0.75           -1.690         0              0              0
  62  CounterTop      0.232          0.949          -2.002         0              0              0
  63  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  64  Vase            0.251          0.546          0.475          0              270            0
  65  Toaster         0.780          0.900          -2.080         0              0              0
  66  LightSwitch     0.108          1.315          2.75           0              180            0
  67  Vase            0.400          0.925          0.218          0              180            0
  68  Microwave       -1.233         0.900          -1.680         0              90             0
  69  Vase            1.465          1.662          -2.200         0              0              0
  70  Fridge          -1.495         0.0            -0.703         0              0              0
  71  Window          2.114          1.495          1.072          90             270            0
  72  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  73  Vase            0.333          0.546          1.272          0              270            0
  74  SinkBasin       -0.148         0.753          -2.026         0              0              0
  75  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  76  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  77  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  79  DiningTable     0.170          0.005          0.678          0              270            0
  80  Shelf           0.170          0.155          0.678          0              270            0
  81  Shelf           1.605          0.172          2.480          0              0              0
  82  Shelf           1.605          0.552          2.480          0              0              0
  83  Shelf           1.604          0.880          2.479          0              0              0
  84  ShelvingUnit    1.605          0.006          2.480          0              0              0
  85  Faucet          -0.143         1.028          -2.223         0              270            0
  86  Stool           -0.553         0.000          0.871          1.233          280.376        0
  87  Shelf           0.170          0.528          0.678          0              270            0
  88
  89
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: turn right and walk to the end of the room, then hang a left turn and walk to the center of the kitchen island on the left | STEP 2: grab a white cup off of the kitchen island there | STEP 3: turn right and walk forwards to the kitchen sink at the end of the room, then turn right to face the microwave | STEP 4: place the cup inside of the microwave, turn it on, and then take it back out | STEP 5: turn around and move straight ahead to the other side of the room, then turn left and walk to the other side of the room | STEP 6: place the white cup on the brown middle shelf | END