Task: Put a warm mug on the counter.

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           1.124          -0.75          0              180            0
   1  Pan             0.900          0.344          -1.957         0              180            0              46
   2  Potato          -1.610         0.319          2.234          0              270            0              62
   3  WineBottle      -1.665         0.344          -2.262         0              0              0              43
   4  Kettle          -0.749         1.332          -2.973         0              0              0              50
   5  Fork            -1.920         1.323          -1.681         0              0              0              47
   6  Spoon           -1.687         0.423          -0.298         0              0              0              51
   7  Spoon           -1.762         1.052          -0.496         0              180            0              65
   8  Spatula         -2.179         1.337          1.419          0              90             0              47
   9  Egg             -2.093         1.375          -1.117         0              0              0              54
  10  Cup             0.900          0.342          -2.267         0              180            0              46
  11  Knife           0.896          1.352          -2.424         0              0              0              47
  12  Knife           -1.530         1.352          1.419          0              0              0              47
  13  Tomato          1.276          1.241          1.238          0              0              0              72
  14  PepperShaker    -1.401         1.318          0.445          0              0              0              47
  15  Bread           -1.920         1.397          -2.981         0              0              0              47
  16  Bread           -1.920         1.397          1.744          0              0              0              47
  17  Lettuce         -2.049         1.399          2.069          0              0              0              47
  18  Mug             -1.401         1.318          1.419          0              0              0              47
  19  Bread           0.896          1.397          -2.794         0              0              0              47
  20  Pot             -1.308         1.329          -2.870         0              0              0              47
  21  Knife           -1.915         1.358          -1.049         0              180            0              54
  22  Bowl            -1.851         0.342          -1.763         0              0              0              43
  23  Potato          0.971          1.564          1.601          0              270            0              60
  24  SoapBottle      -1.789         0.344          -2.262         0              0              0              43
  25  Fork            0.420          1.323          -3.343         0              0              0              47
  26  Cup             1.129          0.342          -2.164         0              180            0              46
  27  Kettle          -0.630         1.331          -3.301         0              180            0              44
  28  Egg             -1.610         0.321          2.110          0              270            0              62
  29  Pan             -0.239         1.331          -3.301         0              180            0              42
  30  SaltShaker      1.193          1.202          1.254          0              270            0              72
  31  WineBottle      -1.952         0.344          0.311          0              0              0              45
  32  Lettuce         1.155          1.399          -2.424         0              0              0              47
  33  Spatula         -1.518         0.435          -1.348         0              90             0              53
  34  PaperTowelRoll  -2.179         1.427          2.069          0              0              0              47
  35  Tomato          -2.093         1.368          -1.255         0              0              0              54
  36  Plate           0.349          1.323          -3.121         0              0              0              47
  37  PepperShaker    1.027          1.202          1.254          0              0              0              72
  38  DishSponge      -2.049         1.322          -2.721         0              0              0              47
  39  Spoon           -1.915         1.336          -1.255         0              0              0              54
  40  Apple           -1.790         1.371          -2.981         0              0              0              47
  41  Mug             0.965          1.371          -1.534         0              270            0              68
  42  StoveBurner     -0.239         1.325          -3.301         0              180            0
  43  Cabinet         -1.461         0.775          -2.002         0              0              0
  44  StoveBurner     -0.630         1.325          -3.301         0              180            0
  45  Cabinet         -1.461         0.775          0.470          0              0              0
  46  Cabinet         0.578          0.776          -2.054         0              0              0
  47  CounterTop      -1.809         1.358          1.182          0              0              0
  48  Cabinet         -1.461         0.775          1.310          0              0              0
  49  Faucet          -2.063         1.362          -0.726         0              39.391         0
  50  StoveBurner     -0.749         1.325          -2.973         0              0              0
  51  Drawer          -1.610         0.681          -0.430         0              0              0
  52  Window          -2.566         1.799          -0.822         270            0              0
  53  Drawer          -1.610         0.681          -1.217         0              0              0
  54  Sink            -1.990         1.143          -0.975         0              0              0
  55  StoveBurner     -0.125         1.325          -2.973         0              0              0
  56  StoveKnob       -0.185         1.338          -2.741         0              270            180
  57  StoveKnob       -0.336         1.338          -2.741         0              270            180
  58  StoveKnob       -0.569         1.338          -2.741         0              270            180
  59  StoveKnob       -0.707         1.338          -2.741         0              270            180
  60  Fridge          1.013          0.227          1.917          0              270            0
  61  Microwave       0.994          1.310          -2.163         0              270            0
  62  GarbageCan      -1.633         0.212          2.192          0              270            0
  63  LightSwitch     1.386          1.565          -0.657         0              270            0
  64  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  65  SinkBasin       -1.835         1.039          -0.542         0              0              0
  66  ButterKnife     0.873          0.468          0.651          0              0              0
  67  Toaster         -1.885         1.310          -2.512         0              90             0
  68  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  69  Drawer          0.647          1.061          0.680          0              270            0
  70  Drawer          0.648          1.061          1.020          0              270            0
  71  Drawer          0.648          0.843          1.020          0              270            0
  72  SideTable       0.975          0.220          0.869          0              270            0
  73  Drawer          0.648          0.602          0.680          0              270            0
  74  Drawer          0.648          0.596          1.020          0              270            0
  75  Drawer          0.648          0.843          0.680          0              270            0
  76  Stool           0.606          0.222          -1.084         1.233          280.489        0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Turn around and walk to the white mug on the counter to your left then turn left to face it once you get to it. | STEP 2: Pick up the mug that's in front of you. | STEP 3: Turn left and take a step then turn left and walk to the microwave. | STEP 4: Warm the mug in the microwave then take it back out and close the door. | STEP 5: Take a small step to your left please. | STEP 6: Put the mug under the pepper grinder. | END