Task: To heat a mug and put it in the cabinet.

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           0.869          0.25           0              270            0
   1  Potato          -1.535         0.729          -3.529         0              90             0              62
   2  Potato          -2.002         0.832          -3.705         0              0              0              57
   3  Spoon           -1.056         0.901          1.187          0              0              0              61
   4  Spoon           0.671          0.760          -0.061         0              0              0              34
   5  Fork            0.950          0.884          -0.245         0              0              0              35
   6  Cup             -1.599         0.698          -3.614         0              0              0              62
   7  Cup             -1.803         0.700          -1.416         0              0              0              71
   8  SoapBottle      -0.252         0.899          1.187          0              270            0              61
   9  Bowl            -0.855         0.899          1.101          0              270            0              61
  10  Bread           0.901          0.708          0.508          0              0              0              40
  11  Bread           0.149          0.944          0.843          0              270            0              61
  12  Mug             0.785          0.460          -2.035         0              270            0              55
  13  Pot             -1.555         0.930          1.049          0              0              0              44
  14  Plate           0.676          0.019          -0.702         0              0              0              38
  15  Fork            0.781          0.665          0.448          0              90             0              40
  16  SoapBottle      0.842          0.014          -0.184         0              0              0              45
  17  Apple           0.672          0.826          -0.515         0              270            0              58
  18  Pan             -2.097         0.930          1.049          0              0              0              42
  19  Egg             0.883          0.809          -0.845         0              270            0              58
  20  Spatula         -1.886         0.716          -0.983         0              0              0              71
  21  Potato          0.883          0.805          -0.735         0              270            0              58
  22  Cup             0.715          0.771          -0.790         0              270            0              58
  23  SaltShaker      0.621          0.012          -0.898         0              0              0              38
  24  PepperShaker    -1.886         0.698          -1.307         0              0              0              71
  25  ButterKnife     -0.453         0.900          0.843          0              270            0              61
  26  DishSponge      0.623          0.759          -0.252         0              0              0              34
  27  Bread           0.661          0.708          0.387          0              0              0              40
  28  Lettuce         -1.260         0.138          -3.611         0              270            0              50
  29  Tomato          -2.054         0.750          -1.416         0              0              0              71
  30  Spoon           0.877          0.884          0.098          0              0              0              35
  31  Knife           0.803          0.906          -0.176         0              0              0              35
  32  Mug             0.698          0.941          -1.360         0              270            0              48
  33  Bowl            0.858          1.462          0.411          0              0              0              47
  34  Drawer          0.706          0.766          -0.125         0              0              0
  35  CounterTop      0.792          0.919          -0.108         0              0              0
  36  Mirror          1.093          1.602          -0.643         0              0              0
  37  StoveBurner     -2.096         0.890          0.785          0              0              0
  38  Cabinet         0.507          0.345          -0.426         0              0              0
  39  StoveBurner     -1.552         0.890          0.785          0              0              0
  40  SideTable       0.770          -0.030         0.443          0              0              0
  41  Sink            0.753          0.882          -0.680         0              0              0
  42  StoveBurner     -2.096         0.890          1.049          0              0              0
  43  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  44  StoveBurner     -1.554         0.890          1.049          0              0              0
  45  Cabinet         0.507          0.345          0.156          0              0              0
  46  Cabinet         0.717          1.822          -0.398         0              0              0
  47  Cabinet         0.717          1.822          0.669          0              0              0
  48  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  49  Toaster         -0.522         0.886          1.081          0              180            0
  50  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  51  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  52  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  53  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  54  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  55  Fridge          0.680          -0.031         -1.957         0              0              0
  56  Window          -2.424         1.639          -2.453         90             270            0
  57  Microwave       -1.994         0.690          -3.651         0              0              0
  58  SinkBasin       0.757          0.762          -0.688         0              270            0
  59  LightSwitch     1.102          1.368          -3.737         0              270            0
  60  Shelf           -0.350         0.124          0.857          0              0              0
  61  DiningTable     -0.350         -0.025         0.857          0              0              0
  62  DiningTable     -1.909         -0.032         -3.507         0              0              0
  63  Blinds          -2.343         2.151          -2.437         0              270            0
  64  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  65  AluminumFoil    0.751          0.225          0.287          0              0              0
  66  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  67  Shelf           0.771          0.226          0.445          0              0              0
  68  Shelf           0.771          0.456          0.446          0              0              0
  69  Faucet          1.025          0.873          -0.678         270            180            0
  70  Shelf           -0.350         0.497          0.857          0              0              0
  71  DiningTable     -1.929         -0.035         -1.398         0              90             0
  72  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  73  NorthWall
  74  EastWall
  75  SouthWall
  76  WestWall

Plan:
STEP 1: Turn and walk to the fridge on the left.  | STEP 2: Take the mug out of the fridge.  | STEP 3: Turn around and walk to the window, turn left, face the microwave.  | STEP 4: Put the mug in the microwave, heat the mug, take the mug out of the microwave.  | STEP 5: Turn around and walk to the counter to the left of the sink.  | STEP 6: Open the cabinet door under the counter to the left, put the mug in the cabinet on the right side , close the door.  | END