Task: Heat a mug and put it away.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.901          4.5            0              0              0
   1  Pan             -0.572         0.900          2.731          0              180            0              75
   2  Potato          -2.888         1.212          4.278          0              90             0              69
   3  DishSponge      -2.377         0.661          0.300          0              0              0              60
   4  ButterKnife     -2.037         0.928          0.518          0              0              0              52
   5  ButterKnife     -2.583         0.900          1.913          0              0              0              73
   6  Spoon           -2.892         0.901          2.573          0              0              0              73
   7  Spoon           -1.824         0.663          0.464          0              0              0              55
   8  Fork            -2.785         0.936          3.209          0              0              0              59
   9  Pot             -0.535         0.928          4.274          0              0              0              56
  10  Egg             -2.925         0.332          4.575          0              90             0              69
  11  Plate           -1.303         1.777          0.160          0              0              0              49
  12  Knife           -2.628         0.961          3.395          0              0              0              59
  13  Knife           -1.094         0.821          0.337          0              0              0              70
  14  SoapBottle      -2.549         0.935          3.209          0              90             0              59
  15  Tomato          -2.884         0.117          0.402          0              26.101         0              66
  16  Bowl            -0.486         0.897          2.329          0              0              0              75
  17  SaltShaker      -1.352         0.924          0.650          0              0              0              52
  18  Apple           -2.628         0.991          3.766          0              0              0              59
  19  Apple           -2.644         0.355          4.204          0              90             0              Floor|-00.05|
  20  Egg             -0.952         0.961          0.650          0              0              0              52
  21  Plate           -2.892         0.904          2.309          0              0              0              73
  22  Fork            -2.480         0.901          2.573          0              0              0              73
  23  Bread           -2.864         0.940          1.983          0              0              0              73
  24  Apple           -2.644         0.355          4.649          0              90             0              Floor|-00.05|
  25  Lettuce         -2.738         0.378          4.427          0              90             0              69
  26  Spatula         -2.485         0.677          0.519          0              270            0              60
  27  Knife           -2.706         0.961          3.395          0              270            0              59
  28  Potato          -2.847         1.212          4.649          0              90             0              69
  29  Tomato          -0.400         0.964          2.530          0              0              0              75
  30  Cup             -0.657         0.900          3.535          0              0              0              75
  31  SaltShaker      -2.480         0.896          2.309          0              0              0              73
  32  PepperShaker    -2.943         0.931          3.302          0              0              0              59
  33  ButterKnife     -0.572         0.900          3.133          0              0              0              75
  34  SoapBottle      -2.686         0.900          2.573          0              0              0              73
  35  Pan             -0.250         0.926          4.651          0              0              0              54
  36  DishSponge      -1.094         0.795          0.226          0              0              0              70
  37  Pot             -0.400         0.900          3.334          0              0              0              75
  38  Spoon           -0.400         0.901          2.329          0              180            0              75
  39  Mug             -1.180         0.790          0.392          0              90             0              70
  40  Bowl            -0.304         1.770          0.297          0              90             0              51
  41  Drawer          -0.325         0.696          0.413          0              0              0
  42  Cabinet         -0.595         0.490          0.648          0              0              0
  43  Cabinet         -0.555         0.490          0.646          0              0              0
  44  Cabinet         -1.591         0.490          0.646          0              0              0
  45  Cabinet         -1.554         0.490          0.646          0              0              0
  46  Cabinet         -2.550         0.490          0.646          0              0              0
  47  Cabinet         -1.514         2.046          0.392          0              0              0
  48  Cabinet         -2.474         2.046          0.392          0              0              0
  49  Cabinet         -1.478         2.046          0.392          0              0              0
  50  Cabinet         -0.518         2.046          0.392          0              0              0
  51  Cabinet         -0.479         2.046          0.392          0              0              0
  52  CounterTop      -1.366         0.952          0.349          0              0              0
  53  Sink            -1.108         0.926          0.340          0              0              0
  54  StoveBurner     -0.254         0.922          4.672          0              0              0
  55  Drawer          -1.824         0.696          0.413          0              0              0
  56  StoveBurner     -0.535         0.922          4.274          0              0              0
  57  StoveBurner     -0.254         0.922          4.274          0              0              0
  58  StoveBurner     -0.536         0.922          4.672          0              0              0
  59  CounterTop      -2.780         0.971          3.487          0              0              0
  60  Drawer          -2.323         0.696          0.413          0              0              0
  61  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  65  Toaster         -0.286         0.861          3.520          0              270            0
  66  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  67  LightSwitch     -0.064         1.447          1.996          0              270            0
  68  Window          -3.075         1.593          1.361          90             90             0
  69  Fridge          -2.802         0.0            4.427          0              0              0
  70  SinkBasin       -1.106         0.785          0.337          0              0              0
  71  Microwave       -0.358         0.917          0.224          0              0              0
  72  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  73  DiningTable     -2.733         -0.003         2.607          0              270            0
  74  Faucet          -1.077         0.920          0.028          270            270            0
  75  DiningTable     -0.488         -0.003         3.182          0              270            0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Turn to the right and face the oven then make another right and move forward to the sink. | STEP 2: Pick up a black mug from the sink. | STEP 3: Turn around and step to the left with the mug. | STEP 4: Heat the mug in the microwave then take it out.  | STEP 5: Look up at the cabinets above the microwave. | STEP 6: Place the mug inside the cabinet above the microwave.  | END