Task: Place a chilled mug in a microwave.

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            0.900          0.5            0              0              0
   1  Ladle           1.528          1.704          -2.162         0              0              0              48
   2  ButterKnife     -0.113         0.913          -1.750         0              0              0              61
   3  WineBottle      1.738          0.914          -1.680         0              0              0              61
   4  WineBottle      -0.160         0.931          1.220          0              0              0              78
   5  Pot             -1.438         1.181          -0.702         0              180            0              69
   6  Spatula         -0.047         0.945          0.991          0              90             0              78
   7  Spoon           -1.000         0.914          -2.151         0              0              0              61
   8  Cup             0.294          0.930          0.991          0              0              0              78
   9  Cup             1.873          0.881          2.429          0              0              0              82
  10  Plate           1.738          0.916          -1.329         0              0              0              61
  11  Knife           -0.064         0.787          -1.981         0              270            0              73
  12  Tomato          1.872          0.138          0.044          0              0              0              62
  13  Tomato          -1.495         1.556          -0.392         0              90             0              69
  14  SoapBottle      -1.224         2.146          -1.349         0              90             0              45
  15  Bowl            1.514          0.117          -1.397         0              270            0              55
  16  SaltShaker      -1.355         1.655          -1.667         0              90             0              44
  17  Mug             -0.210         0.759          -2.071         0              180            0              73
  18  Mug             0.066          0.925          0.991          0              0              0              78
  19  Apple           0.008          0.835          -2.071         0              0              0              73
  20  Potato          -0.160         0.959          0.305          0              0              0              78
  21  Bowl            -0.160         0.927          0.762          0              0              0              78
  22  SoapBottle      -0.772         0.912          -2.167         0              0              0              61
  23  Fork            0.180          0.931          1.448          0              0              0              78
  24  Ladle           0.294          0.975          1.220          0              0              0              78
  25  Bread           0.399          0.964          0.110          0              0              1.601          78
  26  Lettuce         0.294          1.008          0.534          0              0              0              78
  27  WineBottle      0.408          0.931          1.220          0              0              0              78
  28  Spatula         0.066          0.941          0.076          0              90             0              78
  29  Plate           -0.984         0.129          -1.501         0              90             0              56
  30  SaltShaker      -0.160         0.923          0.991          0              0              0              78
  31  Pot             1.567          0.948          -0.757         0              0              0              43
  32  Cup             1.557          0.913          -1.212         0              0              0              61
  33  PepperShaker    0.180          0.923          0.534          0              0              0              78
  34  Pan             1.824          0.945          -0.346         0              0              0              42
  35  ButterKnife     -0.047         0.930          0.534          0              0              0              78
  36  Tomato          0.066          0.978          0.534          0              0              0              78
  37  DishSponge      0.180          0.930          0.305          0              0              0              78
  38  Egg             1.153          0.967          -1.751         0              0              0              61
  39  Spoon           -0.668         0.914          -2.233         0              0              0              61
  40  Knife           0.408          0.953          0.762          0              0              0              78
  41  Mug             0.522          0.925          0.534          0              0              0              78
  42  StoveBurner     1.845          0.940          -0.355         0              0              0
  43  StoveBurner     1.567          0.940          -0.757         0              0              0
  44  Cabinet         -1.149         2.019          -1.979         0              90             0
  45  Cabinet         -1.149         2.265          -0.834         0              90             0
  46  Cabinet         -0.459         2.265          -2.0           0              0              0
  47  Cabinet         -1.100         2.019          -2.0           0              0              0
  48  Cabinet         1.719          2.019          -2.0           0              0              0
  49  Cabinet         1.179          2.019          -2.0           0              0              0
  50  Cabinet         0.199          2.019          -2.0           0              0              0
  51  Cabinet         1.75           2.019          -1.399         0              270            0
  52  Cabinet         1.75           2.019          -1.029         0              270            0
  53  Cabinet         1.379          0.469          -1.689         0              0              0
  54  Cabinet         -0.819         0.469          -1.689         0              0              0
  55  Cabinet         1.389          0.469          -1.059         0              270            0
  56  Cabinet         -0.839         0.469          -1.665         0              90             0
  57  StoveBurner     1.567          0.940          -0.355         0              0              0
  58  StoveBurner     1.845          0.940          -0.757         0              0              0
  59  Sink            -0.109         0.893          -2.009         0              0              0
  60  Drawer          -0.819         0.75           -1.690         0              0              0
  61  CounterTop      0.232          0.949          -2.002         0              0              0
  62  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  63  Vase            0.251          0.546          0.475          0              270            0
  64  Toaster         0.780          0.900          -2.080         0              0              0
  65  LightSwitch     0.108          1.315          2.75           0              180            0
  66  Vase            0.400          0.925          0.218          0              180            0
  67  Microwave       -1.233         0.900          -1.680         0              90             0
  68  Vase            1.465          1.662          -2.200         0              0              0
  69  Fridge          -1.495         0.0            -0.703         0              0              0
  70  Window          2.114          1.495          1.072          90             270            0
  71  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  72  Vase            0.333          0.546          1.272          0              270            0
  73  SinkBasin       -0.148         0.753          -2.026         0              0              0
  74  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  75  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  76  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  77  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  78  DiningTable     0.170          0.005          0.678          0              270            0
  79  Shelf           0.170          0.155          0.678          0              270            0
  80  Shelf           1.605          0.172          2.480          0              0              0
  81  Shelf           1.605          0.552          2.480          0              0              0
  82  Shelf           1.604          0.880          2.479          0              0              0
  83  ShelvingUnit    1.605          0.006          2.480          0              0              0
  84  Faucet          -0.143         1.028          -2.223         0              270            0
  85  Stool           -0.553         0.000          0.871          1.233          280.376        0
  86  Shelf           0.170          0.528          0.678          0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn around and walk to the sink. | STEP 2: Pick up the mug in the sink. | STEP 3: Walk ahead and veer left to the fridge. | STEP 4: Place the mug on the bottom shelf. Close the door, wait a moment, and take it out again. | STEP 5: Take a step left. | STEP 6: Place the mug in the microwave. | END