Task: To take a mug from the microwave to put it away 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           -1.5           0.900          0.5            0              90             0
   1  Potato          -2.635         1.051          2.278          0              90             0              84
   2  DishSponge      -2.287         0.773          0.070          0              0              0              62
   3  ButterKnife     -2.538         0.910          0.031          0              0              0              72
   4  Kettle          1.411          0.929          0.064          0              0              0              73
   5  Spoon           -0.601         0.912          1.540          0              0              0              44
   6  Spoon           -2.289         0.912          0.331          0              0              0              61
   7  Spatula         -2.538         0.925          1.530          0              0              0              72
   8  Spatula         1.570          0.925          -0.868         0              45             0              54
   9  Cup             1.512          0.908          0.435          0              0              0              53
  10  Cup             -2.485         1.298          -0.602         0              90             0              76
  11  Knife           1.418          0.943          -1.034         0              225            0              58
  12  Knife           -2.538         0.936          1.230          0              0              0              72
  13  SoapBottle      -2.572         1.935          -1.150         0              0              0              65
  14  SoapBottle      -2.313         0.116          1.267          0              0              0              50
  15  Bowl            0.516          1.660          -1.729         0              90             0              51
  16  SaltShaker      -0.341         0.905          0.647          0              0              0              44
  17  SaltShaker      0.048          0.905          1.764          0              0              0              44
  18  Lettuce         -0.341         0.994          0.870          0              0              0              44
  19  Lettuce         -0.341         0.994          1.764          0              0              0              44
  20  Apple           -2.532         1.150          -0.507         0              90             0              76
  21  Pan             0.0            0.9            0.948          0              29.999         0              44
  22  Knife           -2.196         0.798          1.322          0              90             0              75
  23  Apple           -2.466         0.656          -1.051         0              90             0              76
  24  Bowl            -2.538         0.908          0.931          0              0              0              72
  25  Fork            1.342          0.911          -0.684         0              270            0              54
  26  Bread           -2.289         0.996          0.631          0              0              0              72
  27  Plate           1.735          1.666          -0.407         0              0              0              64
  28  Egg             1.477          0.952          -1.255         0              225            0              58
  29  Kettle          1.691          0.929          0.064          0              0              0              55
  30  Potato          -2.466         0.631          -0.603         0              90             0              76
  31  SaltShaker      -2.564         1.532          2.768          0              0              0              48
  32  Lettuce         -0.211         0.994          1.540          0              0              0              44
  33  Cup             -2.605         1.535          2.404          0              0              0              48
  34  SoapBottle      1.687          0.187          0.679          0              0              0              83
  35  Spatula         1.256          0.934          -1.196         0              225            0              58
  36  PaperTowelRoll  1.562          0.289          0.734          0              0              0              83
  37  ButterKnife     -2.289         0.910          0.031          0              0              0              72
  38  PepperShaker    -2.384         0.109          1.527          0              0              0              50
  39  DishSponge      -2.287         0.772          -0.121         0              0              0              62
  40  Pot             1.412          0.929          -0.335         0              0              0              45
  41  Spoon           -2.289         0.912          0.031          0              0              0              72
  42  Tomato          -0.730         0.953          1.764          0              0              0              44
  43  Mug             1.775          0.905          -0.897         0              0              0              54
  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 a few steps in front of the fridge. Turn left and walk towards the counter. | STEP 2: Walk closer to the counter and take the mug from the counter. | STEP 3: Turn around take a step and go to the right. Walk straight ahead to the wall. Turn left and go towards the microwave. | STEP 4: Open the microwave and place the mug on the right side and shut the door. After a few seconds take the mug back out. | STEP 5: Raise the mug up to the cabinet above the microwave. | STEP 6: Open the cabinet and place the mug inside. | END