Task: get mug from microwave, chill it, put it on the second to last shelf next to the kitchen island

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          -0.5           0              0              0
   1  Pan             1.845          0.948          -0.757         0              0              0              61
   2  Potato          -1.533         1.533          -1.013         0              90             0              72
   3  Potato          -0.160         0.959          0.534          0              0              0              81
   4  Ladle           0.408          0.971          0.762          0              0              0              81
   5  DishSponge      1.464          0.880          2.510          0              0              0              90
   6  Spatula         -0.346         0.928          -1.725         0              0              0              64
   7  Spatula         -0.113         0.928          -1.713         0              0              0              64
   8  Spoon           -0.720         0.914          -2.200         0              0              0              64
   9  Fork            0.180          0.927          1.448          0              0              0              81
  10  Egg             -0.160         0.984          0.076          0              0              0              81
  11  Egg             -0.064         0.818          -2.071         0              0              0              76
  12  Cup             1.738          0.913          -1.680         0              0              0              64
  13  Knife           -0.356         0.787          -2.071         0              90             0              76
  14  Knife           0.294          0.953          0.076          0              0              0              81
  15  Tomato          -1.072         0.965          -2.188         0              0              0              64
  16  Lettuce         -1.553         0.940          -0.910         0              90             0              72
  17  SaltShaker      1.771          0.877          2.483          0              0              0              85
  18  Mug             1.261          0.951          -1.934         0              0              0              74
  19  Mug             1.850          0.908          -1.834         0              0              0              64
  20  Apple           -0.668         0.984          -2.233         0              0              0              64
  21  Apple           0.294          1.001          0.534          0              0              0              81
  22  Apple           -0.064         0.835          -1.936         0              0              0              76
  23  Potato          -0.160         0.959          1.220          0              0              0              81
  24  Bowl            0.522          0.923          1.448          0              0              0              81
  25  SoapBottle      1.557          0.912          -1.563         0              0              0              64
  26  Fork            0.066          0.927          0.305          0              0              0              81
  27  Ladle           0.408          0.975          0.534          0              0              0              81
  28  Bread           0.066          0.972          0.991          0              0              0              81
  29  Lettuce         -1.553         1.264          -0.910         0              90             0              72
  30  WineBottle      1.913          1.659          -1.240         0              270            0              55
  31  Spatula         0.689          0.928          -2.002         0              0              0              64
  32  Plate           -1.495         1.187          -0.495         0              90             0              72
  33  SaltShaker      -0.160         0.926          0.305          0              0              0              81
  34  Pot             -0.117         0.921          1.5            0              0              0              81
  35  Cup             -0.104         2.151          -2.120         0              0              0              49
  36  PepperShaker    1.670          0.549          2.586          0              0              0              90
  37  Pan             1.567          0.948          -0.757         0              0              0              46
  38  ButterKnife     -0.791         0.9            -2.186         0              164.999        0              64
  39  Tomato          -1.572         1.556          -0.495         0              90             0              72
  40  DishSponge      0.522          0.930          0.076          0              0              0              81
  41  Egg             -0.283         0.818          -1.936         0              0              0              76
  42  Spoon           -0.210         0.765          -1.981         0              0              0              76
  43  Knife           0.408          0.953          0.305          0              0              0              81
  44  Mug             -1.186         1.010          -1.846         0              0              0              70
  45  StoveBurner     1.845          0.940          -0.355         0              0              0
  46  StoveBurner     1.567          0.940          -0.757         0              0              0
  47  Cabinet         -1.149         2.019          -1.979         0              90             0
  48  Cabinet         -1.149         2.265          -0.834         0              90             0
  49  Cabinet         -0.459         2.265          -2.0           0              0              0
  50  Cabinet         -1.100         2.019          -2.0           0              0              0
  51  Cabinet         1.719          2.019          -2.0           0              0              0
  52  Cabinet         1.179          2.019          -2.0           0              0              0
  53  Cabinet         0.199          2.019          -2.0           0              0              0
  54  Cabinet         1.75           2.019          -1.399         0              270            0
  55  Cabinet         1.75           2.019          -1.029         0              270            0
  56  Cabinet         1.379          0.469          -1.689         0              0              0
  57  Cabinet         -0.819         0.469          -1.689         0              0              0
  58  Cabinet         1.389          0.469          -1.059         0              270            0
  59  Cabinet         -0.839         0.469          -1.665         0              90             0
  60  StoveBurner     1.567          0.940          -0.355         0              0              0
  61  StoveBurner     1.845          0.940          -0.757         0              0              0
  62  Sink            -0.109         0.893          -2.009         0              0              0
  63  Drawer          -0.819         0.75           -1.690         0              0              0
  64  CounterTop      0.232          0.949          -2.002         0              0              0
  65  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  66  Vase            0.251          0.546          0.475          0              270            0
  67  Toaster         0.780          0.900          -2.080         0              0              0
  68  LightSwitch     0.108          1.315          2.75           0              180            0
  69  Vase            0.400          0.925          0.218          0              180            0
  70  Microwave       -1.233         0.900          -1.680         0              90             0
  71  Vase            1.465          1.662          -2.200         0              0              0
  72  Fridge          -1.495         0.0            -0.703         0              0              0
  73  Window          2.114          1.495          1.072          90             270            0
  74  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  75  Vase            0.333          0.546          1.272          0              270            0
  76  SinkBasin       -0.148         0.753          -2.026         0              0              0
  77  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  79  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  80  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  81  DiningTable     0.170          0.005          0.678          0              270            0
  82  Shelf           0.170          0.155          0.678          0              270            0
  83  Shelf           1.605          0.172          2.480          0              0              0
  84  Shelf           1.605          0.552          2.480          0              0              0
  85  Shelf           1.604          0.880          2.479          0              0              0
  86  ShelvingUnit    1.605          0.006          2.480          0              0              0
  87  Faucet          -0.143         1.028          -2.223         0              270            0
  88  Stool           -0.553         0.000          0.871          1.233          280.376        0
  89  Shelf           0.170          0.528          0.678          0              270            0
  90
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: turn left and walk over to face kitchen sink | STEP 2: open microwave on counter top and pick up white mug, close microwave door | STEP 3: turn to the right and face the fridge | STEP 4: open the door, put the mug on the top shelf, close door, wait, open door, pick up mug, close door | STEP 5: turn right, walk straight until facing stove, turn left, walk straight, stop at shelves | STEP 6: put white mug on the second shelf from the bottom | END