Task: Place a warm mug on the top shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          -1.5           0              180            0
   1  Pan             -1.290         0.911          -2.637         0              90             0              93
   2  Statue          -0.335         1.110          0.757          0              0              0              68
   3  Potato          -1.962         0.078          2.172          0              270            0              99
   4  Potato          -0.473         1.142          0.504          0              0              0              68
   5  CreditCard      1.993          0.877          -2.617         0              180            0              95
   6  Plate           -1.856         0.908          -0.513         0              0              0              93
   7  Cup             -1.797         0.767          -1.328         0              90             0              103
   8  Tomato          -1.963         0.808          -1.242         0              90             0              103
   9  SoapBottle      -1.129         1.657          -2.640         0              0              0              82
  10  SoapBottle      1.582          0.554          -2.459         0              180            0              98
  11  PepperShaker    -1.071         1.652          -2.532         0              0              0              82
  12  PepperShaker    -0.197         1.107          0.504          0              0              0              68
  13  Bread           -0.995         0.983          -2.560         0              0              0              93
  14  Bread           -0.335         1.184          0.251          0              0              0              68
  15  Apple           1.098          0.961          -2.484         0              0              0              70
  16  Apple           0.079          1.162          0.251          0              0              0              68
  17  Knife           0.355          1.136          -0.001         0              0              0              68
  18  Knife           -1.611         0.936          -0.141         0              90             0              93
  19  Spoon           -1.852         0.770          -1.673         0              90             0              103
  20  Mug             0.324          0.905          -2.253         0              0              0              70
  21  Mug             0.969          0.905          -2.330         0              0              0              70
  22  Spatula         0.355          1.126          -0.759         0              0              0              68
  23  Spatula         0.453          0.925          -2.407         0              90             0              70
  24  Pot             -2.080         0.544          1.003          0              90             0              101
  25  ButterKnife     0.969          0.910          -2.560         0              0              0              70
  26  Kettle          -0.036         0.950          -2.576         0              270            0              71
  27  WineBottle      -1.962         0.048          2.029          0              270            0              99
  28  WineBottle      0.783          1.661          -2.600         0              0              0              90
  29  DishSponge      0.892          0.645          -2.459         0              0              0              73
  30  DishSponge      1.478          0.552          -2.459         0              180            0              98
  31  Bowl            -0.059         1.108          -0.759         0              0              0              68
  32  Bowl            -1.104         0.133          -2.503         0              0              0              86
  33  Book            0.155          1.1            0.617          0              315            0              68
  34  Glassbottle     1.007          1.661          -2.564         0              0              0              90
  35  Knife           0.582          0.936          -2.637         0              90             0              70
  36  Bread           -0.059         1.184          -0.001         0              0              0              68
  37  Fork            1.123          0.316          -2.431         0              90             0              72
  38  Potato          0.324          0.941          -2.637         0              90             0              70
  39  SoapBottle      -1.653         0.155          -0.293         0              90             0              91
  40  Kettle          -0.465         0.950          -2.576         0              90             0              77
  41  Pan             0.721          0.9            -2.415         0              0              0              70
  42  Plate           -0.473         1.108          -0.253         0              0              0              68
  43  Tomato          -1.982         1.345          1.343          0              90             0              101
  44  Vase            -0.197         1.113          -0.253         0              0              0              68
  45  Egg             -2.078         0.833          1.003          0              90             0              101
  46  CreditCard      -1.697         0.790          -0.054         0              90             0              67
  47  Statue          1.955          0.168          -2.543         0              0              0              100
  48  WineBottle      -0.059         1.112          -0.506         0              0              0              68
  49  Pot             0.450          0.144          -2.387         0              0              0              85
  50  Spatula         -2.018         0.784          -1.760         0              180            0              103
  51  PaperTowelRoll  1.893          0.657          -2.459         0              180            0              98
  52  Cup             -2.070         1.303          0.841          0              90             0              101
  53  Vase            -1.401         1.656          -2.641         0              0              0              84
  54  Bowl            -1.908         0.766          -1.501         0              90             0              103
  55  SaltShaker      -1.611         0.907          -2.585         0              0              0              93
  56  PepperShaker    -1.694         0.474          -0.342         0              90             0              83
  57  Lettuce         -1.806         0.973          -0.942         0              256.771        0              93
  58  ButterKnife     1.007          0.645          -2.375         0              0              0              73
  59  Apple           0.079          1.162          -0.506         0              0              0              68
  60  DishSponge      -0.848         0.910          -2.406         0              0              0              93
  61  Spoon           0.217          1.112          -0.253         0              0              0              68
  62  Mug             -2.037         0.793          0.837          0              90             0              101
  63  StoveBurner     -0.036         0.915          -2.372         0              0              0
  64  Drawer          0.949          0.832          -2.197         0              0              0
  65  Drawer          -1.560         0.839          0.204          0              90             0
  66  StoveBurner     -0.465         0.915          -2.371         0              180            0
  67  Drawer          -1.560         0.839          -0.197         0              90             0
  68  CounterTop      -0.079         1.147          -0.001         0              0              0
  69  Cabinet         -1.549         0.494          -1.964         0              90             0
  70  CounterTop      0.693          0.946          -2.483         0              0              0
  71  StoveBurner     -0.036         0.915          -2.576         0              0              0
  72  Drawer          0.949          0.393          -2.200         0              0              0
  73  Drawer          0.949          0.708          -2.200         0              0              0
  74  Cabinet         -1.549         0.494          0.379          0              90             0
  75  StoveKnob       -0.022         0.881          -2.187         45             0              0
  76  Drawer          0.949          0.560          -2.201         0              0              0
  77  StoveBurner     -0.465         0.915          -2.575         0              180            0
  78  Window          -2.230         1.429          -1.203         0              0              0
  79  StoveKnob       -0.483         0.881          -2.187         45             0              0
  80  Sink            -1.899         0.964          -1.5           0              90             0
  81  StoveKnob       -0.328         0.881          -2.187         45             0              0
  82  Cabinet         -0.727         2.015          -2.460         0              0              0
  83  Drawer          -1.560         0.655          -0.196         0              90             0
  84  Cabinet         -1.685         2.015          -2.461         0              0              0
  85  Cabinet         0.680          0.494          -2.200         0              0              0
  86  Cabinet         -1.179         0.494          -2.200         0              0              0
  87  Cabinet         -1.849         2.015          0.379          0              90             0
  88  Drawer          0.949          0.221          -2.200         0              0              0
  89  StoveKnob       -0.183         0.881          -2.187         45             0              0
  90  Cabinet         0.719          2.015          -2.460         0              0              0
  91  Drawer          -1.560         0.331          -0.196         0              90             0
  92  Cabinet         0.680          2.015          -2.460         0              0              0
  93  CounterTop      -1.868         0.946          -1.205         0              0              0
  94  Microwave       -0.236         1.689          -2.525         0              0              0
  95  Shelf           1.751          0.880          -2.560         0              0              0
  96  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  97  Toaster         -1.835         0.900          0.134          0              90             0
  98  Shelf           1.750          0.552          -2.559         0              0              0
  99  GarbageCan      -1.935         -0.002         2.029          0              270            0
 100  Shelf           1.750          0.172          -2.559         0              0              0
 101  Fridge          -2.096         0.0            1.088          0              0              0
 102  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
 103  SinkBasin       -1.908         0.759          -1.488         0              90             0
 104  LightSwitch     2.329          1.309          -0.159         0              270            0
 105  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 106  Stool           0.702          0.000          -0.514         1.202          65.108         0
 107  Stool           0.743          0.000          0.563          1.227          106.706        0
 108  Faucet          -2.070         1.132          -1.514         0              0              0
 109  NorthWall
 110  EastWall
 111  SouthWall
 112  WestWall

Plan:
STEP 1: look left, and then return to your starting position | STEP 2: take the coffee mug from the counter | STEP 3: turn right and go forward to the stove. Turn to face the stove, then look up at the microwave | STEP 4: Open the microwave door, and place the mug in the microwave. Close the door. Heat the mug in the microwave for 3 seconds, then remove it and close the microwave door. | STEP 5: Look back to your normal elevation, then turn around, move slightly towards the counter, turn right, and head to the far wall. Then, turn right and head to the shelf. | STEP 6: Place the mug on the top shelf, next to the credit card. | END