Task: To fill a mug with water and put it in the microwave.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          -0.75          0              0              0
   1  Potato          -2.393         1.336          -0.790         0              90             0              76
   2  Potato          -2.669         0.214          -0.791         0              90             0              76
   3  ButterKnife     -2.455         0.910          1.230          0              0              0              72
   4  ButterKnife     -0.081         0.910          0.647          0              0              0              44
   5  Kettle          1.691          0.929          0.064          0              0              0              55
   6  Fork            -0.081         0.911          0.423          0              0              0              44
   7  Fork            -0.471         0.911          0.647          0              0              0              44
   8  Spatula         -0.081         0.925          1.317          0              270            0              44
   9  Spatula         0.919          0.925          -1.632         0              45             0              54
  10  Egg             -2.559         0.625          -0.872         0              90             0              76
  11  Cup             1.426          0.908          0.435          0              0              0              53
  12  Cup             -2.635         1.013          2.481          0              90             0              84
  13  Knife           1.645          0.936          -0.794         0              45             0              54
  14  Knife           -0.471         0.936          1.540          0              0              0              44
  15  Tomato          1.646          0.227          0.651          0              0              0              83
  16  Tomato          0.683          0.953          -1.369         0              0              0              54
  17  SoapBottle      -2.289         0.912          1.530          0              0              0              72
  18  SoapBottle      -2.621         0.912          0.631          0              0              0              72
  19  Bowl            -2.564         1.534          1.483          0              0              0              57
  20  Lettuce         -0.341         0.994          1.540          0              0              0              44
  21  Pan             1.411          0.929          0.064          0              0              0              73
  22  Knife           1.598          0.936          0.494          0              0              0              53
  23  Apple           -2.439         1.150          -1.074         0              90             0              76
  24  Bowl            -2.310         0.111          -0.023         0              0              0              60
  25  Fork            -2.379         0.774          1.322          0              90             0              75
  26  Bread           -2.289         0.996          0.331          0              0              0              72
  27  Plate           1.734          1.659          0.239          0              0              0              63
  28  Egg             1.729          0.215          0.623          0              0              0              83
  29  Kettle          -0.341         0.911          1.094          0              0              0              44
  30  Potato          -2.559         0.631          -1.051         0              90             0              76
  31  SaltShaker      1.662          1.658          -0.694         0              0              0              64
  32  Lettuce         -0.081         0.994          1.540          0              0              0              44
  33  Cup             -2.572         1.931          -1.150         0              0              0              65
  34  SoapBottle      1.855          0.913          0.406          0              0              0              53
  35  Spatula         -2.704         0.925          0.031          0              90             0              72
  36  PaperTowelRoll  0.999          1.015          -1.758         0              45             0              54
  37  ButterKnife     -2.289         0.910          0.931          0              0              0              72
  38  PepperShaker    -2.384         0.109          0.541          0              0              0              69
  39  DishSponge      -0.211         0.910          1.317          0              0              0              44
  40  Pot             -2.311         0.105          0.895          0              270            0              70
  41  Spoon           -2.318         0.775          0.809          0              90             0              49
  42  Tomato          -2.485         1.342          -0.885         0              90             0              76
  43  Mug             -2.349         0.109          1.475          0              0              0              50
  44  CounterTop      -0.360         0.946          1.093          0              0              0
  45  StoveBurner     1.412          0.923          -0.335         0              0              0
  46  StoveKnob       1.878          1.093          0.018          287.989        90             0
  47  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  48  Cabinet         -2.446         1.948          2.924          0              0              0
  49  Drawer          -2.276         0.792          0.902          0              0              0
  50  Cabinet         -2.145         0.402          1.578          0              0              0
  51  Cabinet         0.149          2.008          -1.603         0              90             0
  52  StoveBurner     1.691          0.923          -0.335         0              0              0
  53  CounterTop      1.585          0.946          0.405          0              0              0
  54  CounterTop      0.474          0.946          -1.625         0              0              0
  55  StoveBurner     1.691          0.923          0.064          0              0              0
  56  Cabinet         -2.446         1.948          1.687          0              0              0
  57  Cabinet         -2.446         1.948          1.640          0              0              0
  58  Sink            1.381          0.810          -1.271         0              225            0
  59  StoveKnob       1.878          1.093          0.150          287.989        90             0
  60  Cabinet         -2.145         0.402          -0.236         0              0              0
  61  Drawer          -2.276         0.792          0.437          0              0              0
  62  Drawer          -2.276         0.792          -0.027         0              0              0
  63  Cabinet         1.572          2.008          0.474          0              0              0
  64  Cabinet         1.572          2.008          -0.775         0              0              0
  65  Cabinet         -2.445         2.148          -1.275         0              0              0
  66  Cabinet         -2.446         2.148          -0.284         0              0              0
  67  Cabinet         -2.446         1.948          0.355          0              0              0
  68  Cabinet         -2.446         1.948          0.405          0              0              0
  69  Cabinet         -2.145         0.402          0.644          0              0              0
  70  Cabinet         -2.145         0.402          0.695          0              0              0
  71  Cabinet         -2.285         1.968          -1.325         0              180            0
  72  CounterTop      -1.485         0.946          1.319          0              0              0
  73  StoveBurner     1.411          0.923          0.064          0              0              0
  74  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  75  Drawer          -2.276         0.792          1.368          0              0              0
  76  Fridge          -2.475         0.0            -0.782         0              90             0
  77  LightSwitch     -0.929         1.350          -1.950         0              0              0
  78  Toaster         -2.564         0.900          1.876          0              90             0
  79  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  80  Window          1.508          1.534          -1.496         90             135            0
  81  Window          1.973          1.521          1.121          90             90             0
  82  SinkBasin       1.149          0.753          -1.380         0              225            0
  83  GarbageCan      1.646          -0.000         0.679          0              0              0
  84  Microwave       -2.580         0.900          2.440          0              90             0
  85  Stool           0.439          0.010          0.747          0              0              0
  86  Stool           -2.303         0.010          1.839          0              0              0
  87  Faucet          1.235          1.138          -1.473         0              225            0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Turn right and walk to the counter to the left of the stove,  | STEP 2: Pick up the mug to the right of the knife.  | STEP 3: Walk to think sink on the right.  | STEP 4: Put the mug in the sink, fill the mug with water, pick up the mug.  | STEP 5: Turn around and walk over to the microwave.  | STEP 6: Put the mug inside of the microwave.  | END