Task: put a heated mug on a black shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          -1.0           0              180            0
   1  Potato          -0.818         0.845          -3.510         0              315            0              77
   2  DishSponge      -0.547         0.813          -3.318         0              315            0              77
   3  DishSponge      -3.163         0.894          -0.633         0              270            0              85
   4  ButterKnife     -3.527         0.760          -2.861         0              199.125        0              84
   5  ButterKnife     -0.315         0.941          -1.494         0              0              0              66
   6  Pot             -3.203         0.761          -3.118         0              244.125        0              84
   7  Fork            -0.583         0.747          -1.450         0              90             0              52
   8  Fork            -4.122         0.691          -0.248         0              180            0              83
   9  Spoon           -4.122         0.691          -0.491         0              0              0              83
  10  Spoon           -0.509         0.752          -2.685         0              90             0              53
  11  Spatula         -3.163         0.909          -0.119         0              270            0              85
  12  Spatula         -0.406         0.765          -2.846         0              90             0              53
  13  Egg             -0.134         1.616          -1.831         0              270            0              80
  14  Egg             -3.460         0.801          -3.048         0              199.125        0              84
  15  Plate           -0.501         1.517          -3.675         0              45             0              60
  16  Knife           -0.543         0.776          -2.685         0              270            0              53
  17  Knife           -2.560         0.920          -0.376         0              0              0              85
  18  SoapBottle      -4.182         0.688          -0.309         0              0              0              83
  19  Bowl            -3.350         0.758          -3.480         0              109.125        0              84
  20  Bread           -3.364         0.976          -0.462         0              270            0              85
  21  Lettuce         -2.560         0.985          -0.462         0              270            0              85
  22  Lettuce         -0.283         1.579          -0.413         0              270            0              78
  23  SaltShaker      -1.092         0.750          -3.534         0              0              0              54
  24  SaltShaker      -4.002         0.686          -0.126         0              0              0              83
  25  PepperShaker    -0.394         0.937          -1.450         0              0              0              66
  26  Apple           -3.882         0.752          -0.430         0              0              0              83
  27  SoapBottle      -4.062         0.688          -0.430         0              90             0              83
  28  Pot             -0.222         0.961          -1.845         0              180            0              50
  29  Fork            -3.679         0.760          -3.299         0              199.125        0              84
  30  Cup             -2.359         0.895          -0.119         0              270            0              85
  31  Tomato          -0.376         1.337          -0.762         0              270            0              78
  32  Pan             -0.222         0.961          -2.243         0              0              0              67
  33  Plate           -0.201         1.589          -2.043         0              270            0              80
  34  Bread           -3.839         0.841          -3.570         0              199.125        0              84
  35  Spatula         -3.364         0.909          -0.290         0              0              0              85
  36  Knife           -0.397         0.967          -2.847         0              0              0              48
  37  SaltShaker      -4.242         0.687          -0.187         0              0              0              83
  38  PepperShaker    -2.761         0.890          -0.633         0              270            0              85
  39  ButterKnife     -3.364         0.894          -0.548         0              0              0              85
  40  Apple           -0.293         1.348          -0.878         0              270            0              78
  41  DishSponge      -0.212         1.502          -1.369         0              0              0              59
  42  Potato          -4.242         0.723          -0.430         0              0              0              83
  43  Egg             -4.091         0.801          -3.410         0              244.125        0              84
  44  Spoon           -0.473         0.942          -1.494         0              0              0              66
  45  Lettuce         -3.878         0.851          -2.931         0              334.125        0              84
  46  Mug             -0.293         1.281          -0.529         0              270            0              78
  47  Bowl            -4.002         0.689          -0.308         0              0              0              83
  48  CounterTop      -1.937         0.977          -3.673         0              0              0
  49  StoveBurner     -0.437         0.924          -1.845         0              180            0
  50  StoveBurner     -0.222         0.924          -1.845         0              180            0
  51  StoveBurner     -0.437         0.924          -2.243         0              0              0
  52  Drawer          -0.500         0.779          -1.450         0              0              0
  53  Drawer          -0.481         0.777          -2.739         0              0              0
  54  Drawer          -1.154         0.782          -3.499         0              0              0
  55  Cabinet         -0.337         2.110          -0.390         0              0              0
  56  Cabinet         -0.337         2.110          -1.272         0              0              0
  57  Cabinet         -0.337         2.110          -1.631         0              0              0
  58  Cabinet         -0.337         2.110          -2.497         0              0              0
  59  Cabinet         -0.337         1.891          -1.286         0              0              0
  60  Cabinet         -0.346         1.891          -3.293         0              0              0
  61  Cabinet         -0.629         0.388          -2.513         0              0              0
  62  Cabinet         -0.633         0.388          -3.008         0              0              0
  63  Cabinet         -1.010         0.388          -3.368         0              0              0
  64  Cabinet         -0.629         0.388          -1.614         0              0              0
  65  Cabinet         -0.327         1.886          -2.513         0              0              0
  66  CounterTop      -0.326         0.976          -1.450         0              0              0
  67  StoveBurner     -0.222         0.924          -2.243         0              0              0
  68  Sink            -0.600         0.929          -3.388         0              0              0
  69  StoveKnob       -0.617         0.899          -1.833         315            90             180
  70  StoveKnob       -0.617         0.899          -2.129         315            90             180
  71  StoveKnob       -0.617         0.899          -2.289         315            90             180
  72  StoveKnob       -0.617         0.899          -1.975         315            90             180
  73  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  74  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  75  Window          -1.389         1.610          -4.113         90             0              0
  76  LightSwitch     -4.372         1.493          -1.031         0              90             0
  77  SinkBasin       -0.614         0.802          -3.384         0              315            0
  78  Fridge          -0.314         0.0            -0.646         0              0              0
  79  Toaster         -1.970         0.930          -3.763         0              0              0
  80  Microwave       -0.216         1.470          -2.054         0              270            0
  81  Blinds          -1.373         2.205          -3.961         0              0              0
  82  Faucet          -0.393         0.930          -3.614         270            225            0
  83  SideTable       -4.030         0.002          -0.301         0              185.034        0
  84  DiningTable     -3.586         0.000          -3.258         0              0              0
  85  DiningTable     -3.224         -0.003         -0.453         0              0              0
  86  Shelf           -4.030         0.259          -0.301         0              185.034        0
  87  Shelf           -4.030         0.489          -0.301         0              185.034        0
  88  EastWall
  89  EastWall
  90  SouthWall

Plan:
STEP 1: turn to face the kitchen fridge | STEP 2: pick out a white mug from inside the fridge | STEP 3: walk right to face the microwave above the stove | STEP 4: heat up the mug in the microwave, pick up the mug from the microwave | STEP 5: walk around to face a small black shelf to the left of the rectangular white table | STEP 6: put the mug on the black shelf to the right of the salt shaker | END