Task: cook a cup in the microwave to be put on top of the shelves 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           -2.0           0.900          2.25           0              0              0
   1  Pan             0.974          0.957          -1.688         0              180            0              57
   2  Statue          0.617          0.910          -1.674         0              270            0              58
   3  Vase            -1.738         0.913          -0.939         0              0              0              58
   4  Book            -2.050         0.116          -1.580         0              0              0              59
   5  Book            -1.516         0.908          0.363          0              0              0              58
   6  DishSponge      -2.300         0.878          3.580          0              225            0              60
   7  DishSponge      -2.828         0.878          3.370          0              270            0              60
   8  ButterKnife     -1.738         0.912          -1.265         0              0              0              58
   9  Kettle          0.997          2.157          -1.747         0              0              0              72
  10  Fork            0.234          0.929          -1.501         0              270            0              55
  11  Egg             -0.377         0.414          2.054          0              180            0              83
  12  Cup             -0.040         0.927          -1.501         0              270            0              55
  13  Plate           -2.996         0.878          3.221          0              270            0              60
  14  Knife           -3.165         0.900          3.296          0              270            0              60
  15  Knife           1.760          0.932          -1.528         0              90             0              78
  16  SoapBottle      -0.237         0.122          -1.413         0              0              0              67
  17  Tomato          -0.263         0.436          2.054          0              180            0              83
  18  Tomato          0.307          0.436          1.996          0              180            0              83
  19  Bowl            -2.072         0.910          -1.265         0              0              0              58
  20  Bowl            -2.072         0.910          -0.288         0              0              0              58
  21  SaltShaker      -2.490         0.871          2.999          0              270            0              60
  22  PepperShaker    -0.479         0.908          -1.221         0              0              0              58
  23  Bread           -2.510         0.961          3.728          0              0              0              60
  24  Bread           -2.152         0.961          3.147          0              270            0              60
  25  Lettuce         -2.458         0.943          2.706          0              135            0              60
  26  Book            3.637          0.549          1.449          0              270            0              81
  27  Fork            -2.353         0.875          2.811          0              135            0              60
  28  Tomato          -2.510         0.925          2.884          0              0              0              60
  29  Egg             -0.377         1.169          2.206          0              180            0              83
  30  Kettle          1.328          0.957          -1.420         0              180            0              62
  31  Vase            -1.849         0.913          -0.614         0              0              0              58
  32  Cup             -2.196         0.876          3.475          0              225            0              60
  33  WineBottle      -3.165         0.879          2.999          0              270            0              60
  34  Plate           -2.793         0.882          3.565          0              135            0              60
  35  Spatula         0.663          0.927          -1.267         0              0              0              58
  36  Potato          1.157          1.798          -1.629         0              0              0              82
  37  Pot             -1.602         0.901          -0.172         0              308.119        0              58
  38  Knife           -1.583         0.741          -0.788         0              270            0              73
  39  SaltShaker      -2.015         0.714          -1.579         0              0              0              77
  40  PepperShaker    0.700          1.649          -1.675         0              0              0              69
  41  Lettuce         -2.659         0.939          3.390          0              270            0              60
  42  ButterKnife     -2.434         0.878          3.207          0              135            0              60
  43  Bread           -2.420         0.958          3.460          0              225            0              60
  44  Vase            -3.017         0.879          2.863          0              225            0              60
  45  DishSponge      0.591          0.116          -1.483         0              0              0              65
  46  Apple           -2.183         0.967          0.363          0              0              0              58
  47  Pan             1.328          0.957          -1.688         0              180            0              61
  48  Spoon           -0.330         0.708          -1.573         0              270            0              87
  49  SoapBottle      -2.152         0.879          3.296          0              270            0              60
  50  Mug             0.093          0.109          -1.415         0              0              0              66
  51  Statue          0.755          0.919          -1.471         0              270            0              58
  52  Statue          3.668          0.540          1.800          0              0              0              81
  53  Bowl            0.193          1.570          2.100          0              180            0              83
  54  Cabinet         -2.171         2.009          -1.538         0              0              0
  55  Sink            0.024          0.771          -1.708         0              270            0
  56  Cabinet         1.444          2.259          -1.542         0              0              0
  57  StoveBurner     0.974          0.957          -1.688         0              180            0
  58  CounterTop      -1.866         0.947          -0.614         0              0              0
  59  Cabinet         -2.217         0.373          -1.874         0              0              0
  60  DiningTable     -2.663         0.002          3.208          0              0              0
  61  StoveBurner     1.328          0.957          -1.688         0              180            0
  62  StoveBurner     1.328          0.957          -1.420         0              180            0
  63  Cabinet         -1.478         0.373          -1.235         0              0              0
  64  Cabinet         1.775          0.372          -1.242         0              0              0
  65  Cabinet         0.774          0.372          -1.242         0              0              0
  66  Cabinet         0.375          0.372          -1.242         0              0              0
  67  Cabinet         -0.574         0.372          -1.238         0              0              0
  68  Cabinet         1.775          2.009          -1.542         0              0              0
  69  Cabinet         0.524          2.009          -1.542         0              0              0
  70  Cabinet         -0.714         2.009          -1.542         0              0              0
  71  Cabinet         -1.671         2.009          -1.538         0              0              0
  72  Cabinet         0.854          2.259          -1.542         0              0              0
  73  Drawer          -1.636         0.683          -0.930         0              0              0
  74  Drawer          1.650          0.682          -1.396         0              0              0
  75  Drawer          0.600          0.682          -1.396         0              0              0
  76  StoveBurner     0.974          0.957          -1.419         0              180            0
  77  Drawer          -2.062         0.683          -1.579         0              0              0
  78  CounterTop      1.645          0.945          -1.527         0              0              0
  79  Shelf           3.725          0.880          1.671          0              90             0
  80  LightSwitch     2.830          1.266          -0.748         0              0              0
  81  Shelf           3.726          0.552          1.671          0              90             0
  82  Microwave       1.150          1.655          -1.614         0              0              0
  83  Fridge          -0.035         0.0            2.177          0              180            0
  84  Window          -0.115         1.802          -1.896         90             0              0
  85  Window          -4.009         1.799          0.310          90             90             0
  86  Shelf           3.726          0.172          1.671          0              90             0
  87  SinkBasin       -0.330         0.686          -1.581         0              270            0
  88  GarbageCan      -0.870         -0.001         2.136          0              90             0
  89  StoveKnob       1.089          0.913          -1.243         45             0              0
  90  StoveKnob       1.208          0.913          -1.243         45             0              0
  91  StoveKnob       1.340          0.913          -1.243         45             0              0
  92  StoveKnob       0.961          0.913          -1.243         45             0              0
  93  Toaster         1.637          0.900          -1.673         0              0              0
  94  Chair           -3.505         0.002          3.290          0              105.736        0
  95  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  96  HousePlant      -2.663         0.835          3.209          0              0              0
  97  Faucet          -0.187         0.922          -1.75          0              311.166        0
  98  ShelvingUnit    3.726          0.006          1.671          0              90             0
  99  Stool           -2.501         -0.000         0.062          1.223          91.243         0
 100  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 101  Chair           -2.934         0.002          2.437          0              28.531         0
 102  Chair           -1.698         0.002          3.235          0              245.204        0
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: walk over to the kitchen sink | STEP 2: grab a cup from underneath the sink | STEP 3: bring the cup over to the kitchen stove | STEP 4: place the cup in the microwave above the stove, cook the cup and then take it out | STEP 5: bring the cup over to the brown shelves in the corner of the room | STEP 6: place the cup on the top brown shelf | END