Task: heat a white 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           0.5            0.900          1.25           0              270            0
   1  Pan             -0.465         0.950          -2.372         0              90             0              58
   2  Statue          -0.059         1.110          -0.001         0              0              0              60
   3  Potato          -1.742         0.800          -1.328         0              90             0              95
   4  Potato          -1.999         1.533          0.841          0              90             0              93
   5  Plate           -2.081         1.499          1.260          0              90             0              93
   6  Plate           0.355          1.108          0.251          0              0              0              60
   7  Cup             -1.586         0.909          -2.560         0              0              0              85
   8  Egg             -1.937         1.341          1.343          0              90             0              93
   9  Egg             -1.611         0.946          -0.698         0              0              0              85
  10  SoapBottle      -1.605         0.137          -1.856         0              90             0              61
  11  SaltShaker      0.582          0.907          -2.253         0              0              0              62
  12  PepperShaker    0.950          0.138          -2.479         0              0              0              80
  13  Apple           -1.997         0.591          0.920          0              90             0              93
  14  Knife           -1.438         0.936          -2.329         0              0              0              85
  15  Knife           0.582          0.936          -2.330         0              0              0              62
  16  Fork            0.969          0.911          -2.484         0              0              0              62
  17  Spoon           0.893          0.316          -2.334         0              0              0              64
  18  Spoon           -1.852         0.770          -1.673         0              90             0              95
  19  Mug             -2.040         1.497          1.008          0              90             0              93
  20  Mug             -0.335         1.106          -0.253         0              0              0              60
  21  Mug             1.686          0.875          -2.563         0              180            0              87
  22  Kettle          -0.036         0.950          -2.372         0              270            0              55
  23  DishSponge      -1.935         0.047          1.933          0              270            0              91
  24  DishSponge      1.478          0.552          -2.459         0              180            0              90
  25  Book            0.155          1.1            0.617          0              315            0              60
  26  Glassbottle     1.582          0.553          -2.562         0              180            0              90
  27  Knife           -0.335         1.136          0.757          0              0              0              60
  28  Bread           1.098          0.983          -2.637         0              0              0              62
  29  Fork            0.840          0.911          -2.637         0              0              0              62
  30  Potato          -0.335         1.142          -0.001         0              0              0              60
  31  SoapBottle      -1.962         0.048          2.124          0              270            0              91
  32  Kettle          -1.852         0.770          -1.501         0              90             0              95
  33  Pan             0.721          0.9            -2.415         0              0              0              62
  34  Plate           -2.070         1.302          1.176          0              90             0              93
  35  Tomato          -1.774         0.950          -0.698         0              0              0              85
  36  Vase            2.042          0.540          -2.495         0              0              0              90
  37  Egg             -1.935         0.083          2.029          0              270            0              91
  38  CreditCard      -1.574         0.908          -1.682         0              0              0              95
  39  Statue          0.217          1.110          -0.253         0              0              0              60
  40  WineBottle      -0.473         1.112          -0.506         0              0              0              60
  41  Pot             -1.219         0.9            -2.356         0              0              0              85
  42  Spatula         -1.653         0.169          -0.293         0              0              0              83
  43  PaperTowelRoll  -1.438         1.015          -2.713         0              0              0              85
  44  Cup             -2.114         1.307          1.008          0              90             0              93
  45  Vase            0.324          0.908          -2.484         0              0              0              62
  46  Bowl            -2.078         0.795          1.003          0              90             0              93
  47  SaltShaker      -0.059         1.107          -0.253         0              0              0              60
  48  PepperShaker    0.453          0.907          -2.253         0              0              0              62
  49  Lettuce         -0.059         1.191          -0.506         0              0              0              60
  50  ButterKnife     -0.197         1.111          0.251          0              0              0              60
  51  Apple           0.453          0.961          -2.714         0              0              0              62
  52  DishSponge      -1.852         0.769          -1.242         0              90             0              95
  53  Spoon           0.324          0.911          -2.253         0              0              0              62
  54  Mug             2.096          0.875          -2.563         0              180            0              87
  55  StoveBurner     -0.036         0.915          -2.372         0              0              0
  56  Drawer          0.949          0.832          -2.197         0              0              0
  57  Drawer          -1.560         0.839          0.204          0              90             0
  58  StoveBurner     -0.465         0.915          -2.371         0              180            0
  59  Drawer          -1.560         0.839          -0.197         0              90             0
  60  CounterTop      -0.079         1.147          -0.001         0              0              0
  61  Cabinet         -1.549         0.494          -1.964         0              90             0
  62  CounterTop      0.693          0.946          -2.483         0              0              0
  63  StoveBurner     -0.036         0.915          -2.576         0              0              0
  64  Drawer          0.949          0.393          -2.200         0              0              0
  65  Drawer          0.949          0.708          -2.200         0              0              0
  66  Cabinet         -1.549         0.494          0.379          0              90             0
  67  StoveKnob       -0.022         0.881          -2.187         45             0              0
  68  Drawer          0.949          0.560          -2.201         0              0              0
  69  StoveBurner     -0.465         0.915          -2.575         0              180            0
  70  Window          -2.230         1.429          -1.203         0              0              0
  71  StoveKnob       -0.483         0.881          -2.187         45             0              0
  72  Sink            -1.899         0.964          -1.5           0              90             0
  73  StoveKnob       -0.328         0.881          -2.187         45             0              0
  74  Cabinet         -0.727         2.015          -2.460         0              0              0
  75  Drawer          -1.560         0.655          -0.196         0              90             0
  76  Cabinet         -1.685         2.015          -2.461         0              0              0
  77  Cabinet         0.680          0.494          -2.200         0              0              0
  78  Cabinet         -1.179         0.494          -2.200         0              0              0
  79  Cabinet         -1.849         2.015          0.379          0              90             0
  80  Drawer          0.949          0.221          -2.200         0              0              0
  81  StoveKnob       -0.183         0.881          -2.187         45             0              0
  82  Cabinet         0.719          2.015          -2.460         0              0              0
  83  Drawer          -1.560         0.331          -0.196         0              90             0
  84  Cabinet         0.680          2.015          -2.460         0              0              0
  85  CounterTop      -1.868         0.946          -1.205         0              0              0
  86  Microwave       -0.236         1.689          -2.525         0              0              0
  87  Shelf           1.751          0.880          -2.560         0              0              0
  88  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  89  Toaster         -1.835         0.900          0.134          0              90             0
  90  Shelf           1.750          0.552          -2.559         0              0              0
  91  GarbageCan      -1.935         -0.002         2.029          0              270            0
  92  Shelf           1.750          0.172          -2.559         0              0              0
  93  Fridge          -2.096         0.0            1.088          0              0              0
  94  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  95  SinkBasin       -1.908         0.759          -1.488         0              90             0
  96  LightSwitch     2.329          1.309          -0.159         0              270            0
  97  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  98  Stool           0.702          0.000          -0.514         1.202          65.108         0
  99  Stool           0.743          0.000          0.563          1.227          106.706        0
 100  Faucet          -2.070         1.132          -1.514         0              0              0
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: turn left and walk to the wall, then turn right and walk to the three tier shelving unit | STEP 2: pick up the right most white mug off of the top shelf | STEP 3: turn right and walk to face the stove, then look up | STEP 4: open the microwave door, and place the mug inside. turn on the microwave for two seconds, then remove the mug and close the microwave door | STEP 5: look down and turn right. walk to face the shelving unit once more | STEP 6: place the mug down on the top shelf of the shelving unit to the right of the other white mug | END