Task: Warm a mug in the microwave, put it into the sink

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           0.908          2.75           0              90             0
   1  SprayBottle     -1.012         0.749          2.830          0              90             0              49
   2  DishSponge      1.207          0.911          -0.428         0              0              0              68
   3  ButterKnife     -1.197         0.748          2.273          0              0              0              49
   4  ButterKnife     -1.290         0.748          2.087          0              0              0              49
   5  Glassbottle     -1.135         0.912          -0.817         0              0              0              74
   6  Glassbottle     -1.388         2.154          1.150          0              0              0              66
   7  Spatula         1.286          0.926          -0.144         0              0              0              68
   8  Cup             -0.020         0.757          -0.612         0              0              0              95
   9  Cup             1.297          1.659          0.016          0              0              0              50
  10  Plate           1.207          0.912          0.706          0              0              0              68
  11  Tomato          -1.012         0.798          2.644          0              0              0              49
  12  Tomato          -1.149         1.470          1.197          0              90             0              88
  13  SoapBottle      1.414          0.087          1.377          0              0              0              89
  14  SoapBottle      -1.437         0.913          -0.902         0              0              0              74
  15  Bowl            1.219          0.114          0.732          0              0              0              65
  16  Bowl            -0.252         0.115          -0.490         0              0              0              64
  17  Bread           -1.012         0.813          1.902          0              0              0              49
  18  Bread           1.367          0.949          2.261          0              0              0              100
  19  Lettuce         -1.383         0.819          2.459          0              0              0              49
  20  SaltShaker      1.444          0.907          -0.428         0              0              0              68
  21  Mug             -1.206         0.746          0.988          0              90             0              88
  22  Mug             -1.263         1.650          -0.128         0              0              0              56
  23  Bread           1.069          0.935          2.683          0              0              0              100
  24  Glassbottle     -0.724         1.656          -0.724         0              0              0              53
  25  Fork            1.367          0.886          2.584          0              90             0              100
  26  Kettle          0.802          0.939          -0.473         0              0              0              76
  27  Tomato          -0.919         0.798          2.830          0              0              0              49
  28  Plate           1.365          0.912          0.139          0              0              0              68
  29  CellPhone       1.523          0.909          -0.144         0              0              0              68
  30  Lettuce         -0.919         0.820          2.273          0              0              0              49
  31  Pot             0.502          0.939          -0.740         0              90             0              75
  32  SoapBottle      -1.197         0.750          3.015          0              90             0              49
  33  WineBottle      -1.194         0.342          1.092          0              90             0              88
  34  Spatula         -1.513         0.927          -0.477         0              270            0              74
  35  Bowl            -1.206         0.749          0.778          0              90             0              88
  36  Apple           -1.383         0.809          2.273          0              0              0              49
  37  Cup             1.117          0.885          2.153          0              0              0              100
  38  Knife           -1.123         0.934          -0.509         0              0              0              74
  39  Egg             -1.211         0.946          -0.477         0              0              0              74
  40  SaltShaker      -1.388         1.652          -0.166         0              0              0              56
  41  PepperShaker    1.200          0.882          2.584          0              0              0              100
  42  Potato          -1.329         1.060          -0.109         0              90             0              94
  43  ButterKnife     -0.038         0.912          -0.354         0              0              0              74
  44  DishSponge      -1.197         0.748          2.644          0              0              0              49
  45  Pan             1.365          0.911          0.422          0              90             0              68
  46  Spoon           -1.105         0.750          1.902          0              0              0              49
  47  SprayBottle     -1.197         0.748          2.830          0              0              0              49
  48  Mug             0.103          0.753          -0.533         0              0              0              95
  49  DiningTable     -1.182         0.006          2.414          0              90             0
  50  Cabinet         1.184          2.059          0.375          0              0              0
  51  Cabinet         1.184          2.059          -0.635         0              0              0
  52  Cabinet         0.591          2.309          -0.645         0              0              0
  53  Cabinet         -0.574         2.059          -0.644         0              0              0
  54  Cabinet         -1.103         2.059          -0.644         0              0              0
  55  Cabinet         -1.185         2.059          -0.331         0              0              0
  56  Cabinet         -1.185         2.059          -0.281         0              0              0
  57  Cabinet         -1.185         2.059          0.375          0              0              0
  58  Cabinet         1.184          2.309          1.174          0              0              0
  59  Cabinet         1.184          2.309          0.424          0              0              0
  60  Cabinet         0.988          0.402          0.581          0              0              0
  61  Cabinet         0.988          0.402          0.531          0              0              0
  62  Cabinet         0.988          0.402          -0.178         0              0              0
  63  Cabinet         0.335          0.402          -0.348         0              0              0
  64  Cabinet         -0.374         0.402          -0.348         0              0              0
  65  Cabinet         0.988          0.402          1.231          0              0              0
  66  Cabinet         -1.185         2.309          1.374          0              0              0
  67  Cabinet         -1.185         2.309          0.424          0              0              0
  68  CounterTop      1.274          0.947          0.064          0              0              0
  69  Drawer          1.116          0.792          -0.015         0              0              0
  70  Drawer          -1.116         0.792          0.210          0              180            0
  71  Cabinet         -0.990         0.402          0.374          0              180            0
  72  Drawer          -1.116         0.792          -0.170         0              180            0
  73  Cabinet         -0.990         0.402          -0.335         0              180            0
  74  CounterTop      -1.001         0.947          -0.669         0              0              0
  75  StoveBurner     0.502          0.932          -0.740         0              90             0
  76  StoveBurner     0.801          0.932          -0.473         0              0              0
  77  StoveBurner     0.801          0.932          -0.740         0              90             0
  78  Drawer          1.116          0.792          1.081          0              0              0
  79  Sink            -0.013         0.912          -0.615         0              0              0
  80  Drawer          1.116          0.792          0.732          0              0              0
  81  StoveBurner     0.502          0.932          -0.469         0              0              0
  82  Drawer          1.116          0.792          0.367          0              0              0
  83  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  84  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  85  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  86  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  87  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  88  Fridge          -1.300         0.008          0.987          0              90             0
  89  GarbageCan      1.296          -0.024         1.465          0              0              0
  90  Window          -0.012         1.641          -0.972         90             0              0
  91  Window          1.598          1.646          2.489          90             270            0
  92  Toaster         1.356          0.900          1.044          0              270            0
  93  LightSwitch     0.118          1.353          3.799          0              180            0
  94  Microwave       -1.343         0.900          0.053          0              90             0
  95  SinkBasin       -0.029         0.748          -0.612         0              0              0
  96  Faucet          -0.026         0.927          -0.808         0              0              0
  97  Shelf           -1.182         0.127          2.414          0              90             0
  98  Stool           1.140          0.007          3.262          1.206          20.753         0
  99  Shelf           -1.182         0.435          2.414          0              90             0
 100  DiningTable     1.169          0.014          2.569          0              0              1.896
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: Go forward a bit, turn right and go to the sink | STEP 2: Pick up the mug in the sink | STEP 3: Turn right, go to the microwave | STEP 4: Put the mug in the microwave, start the microwave, wait, pick up the mug from the microwave | STEP 5: Turn around, go forward, turn right at the sink | STEP 6: Put the mug in the sink | END