Task: Microwave a mug from the cupboard and put it next to the toaster.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.931          -0.25          0              270            0
   1  Pan             -0.312         0.203          -1.337         0              90             0              55
   2  Potato          0.065          1.096          0.091          0              0              0              48
   3  Potato          -1.381         1.542          2.331          0              90             0              61
   4  DishSponge      -1.183         0.202          -1.193         0              0              0              54
   5  ButterKnife     1.015          1.043          0.807          0              0              0              48
   6  Pot             -1.105         0.204          -1.555         0              90             0              54
   7  Fork            1.347          1.043          0.676          0              270            0              48
   8  Spoon           1.181          1.044          0.676          0              0              0              48
   9  Plate           0.960          1.577          -1.764         0              0              0              50
  10  Plate           0.979          0.212          -1.267         0              0              0              57
  11  Knife           0.446          1.069          0.630          0              90             0              48
  12  Knife           1.347          1.069          0.807          0              0              0              48
  13  Tomato          1.523          1.094          0.307          0              0              0              48
  14  Tomato          1.523          1.094          0.522          0              0              0              48
  15  Bowl            0.446          1.042          0.415          0              0              0              48
  16  SaltShaker      -0.222         0.198          -1.625         0              180            0              55
  17  PepperShaker    1.897          1.014          -1.411         0              0              0              52
  18  Mug             -0.398         1.560          -1.396         0              0              0              51
  19  Apple           0.848          1.086          0.763          0              0              0              48
  20  SoapBottle      -1.184         2.029          -1.627         0              0              0              53
  21  Apple           -1.423         1.756          1.974          0              90             0              61
  22  Potato          0.446          1.096          0.199          0              0              0              48
  23  Fork            0.516          1.043          0.720          0              0              0              48
  24  Kettle          0.007          1.050          -1.400         0              0              0              45
  25  Pan             0.965          1.035          -1.66          0              290.450        0              46
  26  Tomato          -1.303         1.540          1.885          0              90             0              61
  27  SaltShaker      -0.222         0.198          -1.553         0              0              0              55
  28  Egg             1.072          1.101          -1.397         0              0              0              46
  29  Cup             1.211          0.900          0.231          0              90             0              43
  30  Spatula         0.255          1.058          0.091          0              0              0              48
  31  Knife           0.892          1.079          0.181          0              90             0              44
  32  Lettuce         -1.349         1.773          2.242          0              90             0              61
  33  ButterKnife     -0.689         1.046          -1.181         0              0              0              46
  34  PepperShaker    1.435          1.014          -1.557         0              0              0              52
  35  DishSponge      1.155          1.046          -1.181         0              0              0              46
  36  Plate           1.665          0.217          -1.553         0              0              0              56
  37  Bread           0.065          1.117          0.630          0              0              0              48
  38  Spoon           0.682          1.044          0.545          0              0              0              48
  39  Pot             0.5            1.057          -1.4           0              0              0              47
  40  Mug             -1.184         2.023          -1.409         0              0              0              53
  41  Bowl            -1.095         0.962          2.063          0              90             0              61
  42  StoveBurner     0.389          1.043          -1.630         0              0              0
  43  SinkBasin       1.211          0.882          0.236          0              90             0
  44  Sink            0.928          0.941          0.324          0              90             0
  45  StoveBurner     0.000          1.048          -1.399         0              0              0
  46  CounterTop      0.196          1.082          -1.504         0              0              0
  47  StoveBurner     0.5            1.048          -1.399         0              0              0
  48  CounterTop      0.968          1.078          0.415          0              0              0
  49  StoveBurner     0.120          1.043          -1.630         0              0              0
  50  Cabinet         1.322          1.955          -1.309         0              0              0
  51  Cabinet         -0.866         1.955          -1.309         0              0              0
  52  Cabinet         1.993          1.403          -1.110         0              0              0
  53  Cabinet         -1.547         2.001          -1.110         0              0              0
  54  Cabinet         -1.526         0.593          -1.110         0              0              0
  55  Cabinet         -0.852         0.589          -1.110         0              0              0
  56  Cabinet         1.990          0.593          -1.110         0              0              0
  57  Cabinet         1.336          0.589          -1.110         0              0              0
  58  StoveBurner     0.250          1.048          -1.399         0              0              0
  59  Toaster         -0.550         1.035          -1.776         0              0              0
  60  Microwave       -1.189         1.624          -1.284         0              0              0
  61  Fridge          -1.286         0.020          1.832          0              90             0
  62  GarbageCan      1.856          -0.019         2.386          0              270            0
  63  LightSwitch     1.016          1.360          2.619          0              180            0
  64  CoffeeMachine   1.929          1.031          0.440          0              270            0
  65  StoveKnob       0.0            1.046          -1.220         0              0              0
  66  StoveKnob       0.090          1.046          -1.220         0              0              0
  67  StoveKnob       0.246          1.046          -1.220         0              0              0
  68  StoveKnob       0.490          1.046          -1.220         0              0              0
  69  StoveKnob       0.389          1.046          -1.220         0              0              0
  70  Faucet          1.277          1.265          0.384          0              90             0
  71  Chair           0.343          0.031          0.976          0              166.747        0
  72  Chair           1.008          0.031          1.034          0              180            0
  73  Chair           1.575          0.031          1.050          0              210.000        0
  74  NorthWall
  75  EastWall
  76  SouthWall
  77  WestWall

Plan:
STEP 1: Go forward and turn left to face the counter with the toaster on it. | STEP 2: Open up the cupboard above the toaster, grab the mug, and close the cupboard. | STEP 3: Turn right and face the microwave above the oven. | STEP 4: Microwave the mug for a moment, then take it back out of the microwave and close the microwave. | STEP 5: Turn left and go back to the counter area with the toaster on it. | STEP 6: Place the mug on the counter to the left of the butterknife. | END