Task: Place a heated cup on a shelf.

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              180            0
   1  Book            -1.649         0.116          -0.916         0              0              0              69
   2  Book            -1.501         1.654          -1.710         0              0              0              77
   3  DishSponge      0.560          0.718          -1.376         0              0              0              81
   4  DishSponge      -0.255         0.696          -1.626         0              270            0              93
   5  ButterKnife     -2.472         0.878          3.513          0              225            0              66
   6  Kettle          1.328          0.957          -1.420         0              180            0              68
   7  WineBottle      -0.897         0.193          2.174          0              90             0              94
   8  WineBottle      -3.069         0.879          3.527          0              135            0              66
   9  Spatula         -2.048         0.733          -1.441         0              270            0              83
  10  Spatula         -2.996         0.889          3.073          0              180            0              66
  11  Fork            -2.321         0.879          3.221          0              270            0              66
  12  Fork            -2.950         0.879          3.408          0              135            0              66
  13  Spoon           -2.807         0.879          3.559          0              0              0              66
  14  Egg             0.079          0.828          2.137          0              180            0              89
  15  Egg             -0.377         1.169          2.246          0              180            0              89
  16  Cup             -2.621         0.876          2.945          0              225            0              66
  17  Cup             -2.996         0.873          3.147          0              270            0              66
  18  Cup             0.179          0.927          -1.356         0              270            0              61
  19  Plate           1.648          0.118          -1.450         0              0              0              70
  20  Plate           -2.539         0.882          3.102          0              135            0              66
  21  Knife           -1.627         0.934          0.363          0              0              0              64
  22  Knife           -1.616         0.741          -0.788         0              270            0              79
  23  SoapBottle      -1.627         0.912          -1.265         0              0              0              64
  24  Bowl            -2.321         0.876          3.370          0              0              0              66
  25  SaltShaker      1.301          2.152          -1.713         0              0              0              78
  26  SaltShaker      0.525          0.908          -1.471         0              0              0              64
  27  PepperShaker    0.677          0.714          -1.376         0              0              0              81
  28  PepperShaker    0.571          0.908          -1.369         0              0              0              64
  29  Mug             0.735          1.648          -1.712         0              0              0              75
  30  Apple           -2.644         0.929          3.446          0              225            0              66
  31  Apple           -3.165         0.929          3.296          0              270            0              66
  32  Book            3.741          0.549          1.553          0              270            0              87
  33  Fork            -3.122         0.879          2.968          0              225            0              66
  34  Tomato          -2.807         0.925          2.715          0              0              0              66
  35  Egg             0.307          0.828          2.251          0              180            0              89
  36  Kettle          0.234          0.929          -1.573         0              270            0              61
  37  Vase            -2.088         0.120          -1.653         0              0              0              65
  38  Cup             -2.072         0.910          0.363          0              0              0              64
  39  WineBottle      1.687          0.911          -1.346         0              0              0              84
  40  Plate           -2.196         0.878          2.968          0              135            0              66
  41  Spatula         -2.300         0.893          3.580          0              45             0              66
  42  Potato          -1.849         0.948          0.037          0              0              0              64
  43  Pot             -1.602         0.901          -0.172         0              308.119        0              64
  44  Knife           -2.577         0.896          3.618          0              315            0              66
  45  SaltShaker      1.649          0.716          -1.377         0              0              0              80
  46  PepperShaker    -2.081         0.715          -1.785         0              0              0              83
  47  Lettuce         -2.458         0.943          2.706          0              135            0              66
  48  ButterKnife     -1.849         0.912          -0.939         0              0              0              64
  49  Bread           -1.601         0.980          -0.837         0              334.888        0              64
  50  Vase            -0.292         0.122          -1.452         0              0              0              73
  51  DishSponge      3.716          0.880          1.656          0              270            0              87
  52  Apple           -2.143         0.929          3.422          0              225            0              66
  53  Pan             0.972          0.959          -1.426         0              0              0              82
  54  Spoon           -0.367         0.698          -1.678         0              90             0              93
  55  SoapBottle      -0.833         0.912          -1.572         0              0              0              64
  56  Mug             -2.996         0.869          3.296          0              270            0              66
  57  Statue          3.676          0.168          1.410          0              334.521        0              87
  58  Statue          3.668          0.540          1.800          0              0              0              87
  59  Bowl            -2.072         0.910          -0.614         0              0              0              64
  60  Cabinet         -2.171         2.009          -1.538         0              0              0
  61  Sink            0.024          0.771          -1.708         0              270            0
  62  Cabinet         1.444          2.259          -1.542         0              0              0
  63  StoveBurner     0.974          0.957          -1.688         0              180            0
  64  CounterTop      -1.866         0.947          -0.614         0              0              0
  65  Cabinet         -2.217         0.373          -1.874         0              0              0
  66  DiningTable     -2.663         0.002          3.208          0              0              0
  67  StoveBurner     1.328          0.957          -1.688         0              180            0
  68  StoveBurner     1.328          0.957          -1.420         0              180            0
  69  Cabinet         -1.478         0.373          -1.235         0              0              0
  70  Cabinet         1.775          0.372          -1.242         0              0              0
  71  Cabinet         0.774          0.372          -1.242         0              0              0
  72  Cabinet         0.375          0.372          -1.242         0              0              0
  73  Cabinet         -0.574         0.372          -1.238         0              0              0
  74  Cabinet         1.775          2.009          -1.542         0              0              0
  75  Cabinet         0.524          2.009          -1.542         0              0              0
  76  Cabinet         -0.714         2.009          -1.542         0              0              0
  77  Cabinet         -1.671         2.009          -1.538         0              0              0
  78  Cabinet         0.854          2.259          -1.542         0              0              0
  79  Drawer          -1.636         0.683          -0.930         0              0              0
  80  Drawer          1.650          0.682          -1.396         0              0              0
  81  Drawer          0.600          0.682          -1.396         0              0              0
  82  StoveBurner     0.974          0.957          -1.419         0              180            0
  83  Drawer          -2.062         0.683          -1.579         0              0              0
  84  CounterTop      1.645          0.945          -1.527         0              0              0
  85  Shelf           3.725          0.880          1.671          0              90             0
  86  LightSwitch     2.830          1.266          -0.748         0              0              0
  87  Shelf           3.726          0.552          1.671          0              90             0
  88  Microwave       1.150          1.655          -1.614         0              0              0
  89  Fridge          -0.035         0.0            2.177          0              180            0
  90  Window          -0.115         1.802          -1.896         90             0              0
  91  Window          -4.009         1.799          0.310          90             90             0
  92  Shelf           3.726          0.172          1.671          0              90             0
  93  SinkBasin       -0.330         0.686          -1.581         0              270            0
  94  GarbageCan      -0.870         -0.001         2.136          0              90             0
  95  StoveKnob       1.089          0.913          -1.243         45             0              0
  96  StoveKnob       1.208          0.913          -1.243         45             0              0
  97  StoveKnob       1.340          0.913          -1.243         45             0              0
  98  StoveKnob       0.961          0.913          -1.243         45             0              0
  99  Toaster         1.637          0.900          -1.673         0              0              0
 100  Chair           -3.505         0.002          3.290          0              105.736        0
 101  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
 102  HousePlant      -2.663         0.835          3.209          0              0              0
 103  Faucet          -0.187         0.922          -1.75          0              311.166        0
 104  ShelvingUnit    3.726          0.006          1.671          0              90             0
 105  Stool           -2.501         -0.000         0.062          1.223          91.243         0
 106  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 107  Chair           -2.934         0.002          2.437          0              28.531         0
 108  Chair           -1.698         0.002          3.235          0              245.204        0
 109  NorthWall
 110  EastWall
 111  SouthWall
 112  WestWall

Plan:
STEP 1: Walk ahead and veer left to the sink. | STEP 2: Pick up the cup next to the sink. | STEP 3: Walk to the left. | STEP 4: Heat the cup in the microwave. | STEP 5: Turn around and walk straight and veer right to the shelving unit. | STEP 6: Place the cup on the top shelf to the left of the sponge. | END