Task: Warm up a mug in the microwave to place it in the coffee machine

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          2.0            0              270            0
   1  Pan             -1.109         0.930          1.470          0              0              0              45
   2  Potato          -0.793         0.970          1.154          0              0              0              68
   3  Potato          -1.043         0.970          0.921          0              0              0              68
   4  Fork            1.275          0.747          0.984          0              90             0              73
   5  Egg             1.523          0.105          2.879          0              0              0              81
   6  Knife           -0.689         0.768          2.381          0              270            0              44
   7  Knife           1.448          0.768          0.780          0              90             0              73
   8  Tomato          -0.924         1.380          0.195          0              90             0              75
   9  Tomato          -0.988         0.876          0.272          0              90             0              75
  10  SoapBottle      -0.829         0.083          0.985          0              0              0              55
  11  SoapBottle      1.469          0.081          1.059          0              0              0              69
  12  Bowl            -0.844         0.078          2.241          0              0              0              64
  13  SaltShaker      -1.211         0.934          2.159          0              0              0              43
  14  SaltShaker      1.448          0.743          1.052          0              0              0              73
  15  PepperShaker    -1.041         1.497          2.613          0              180            0              65
  16  PepperShaker    -0.960         1.824          0.303          0              0              0              57
  17  Lettuce         -0.937         0.656          0.195          0              90             0              75
  18  Mug             -1.032         1.946          1.364          0              0              0              59
  19  Mug             1.528          1.002          2.345          0              270            0              48
  20  Apple           -1.065         1.548          0.348          0              90             0              75
  21  Apple           1.456          0.119          2.977          0              0              0              81
  22  Lettuce         1.460          1.014          1.674          5.128          59.911         358.242        70
  23  SoapBottle      1.352          0.081          2.392          0              0              0              52
  24  Bread           -0.923         0.990          2.265          0              302.470        0              43
  25  Fork            1.439          0.938          0.940          0              0              0              48
  26  Tomato          -1.012         0.876          -0.110         0              90             0              75
  27  Bowl            -1.126         0.934          0.765          0              0              0              68
  28  Pot             -0.818         0.927          0.816          0              270            0              68
  29  Spatula         1.344          0.761          2.323          0              90             0              46
  30  Knife           -0.876         0.959          1.076          0              0              0              68
  31  SaltShaker      1.748          0.934          1.244          0              0              0              48
  32  Apple           1.390          0.119          2.847          0              90             0              81
  33  PepperShaker    -0.723         0.742          0.711          0              180            0              66
  34  ButterKnife     1.592          0.937          1.007          0              0              0              48
  35  Potato          -1.209         0.970          1.076          0              0              0              68
  36  Plate           -0.804         0.086          2.528          0              0              0              64
  37  DishSponge      1.409          0.936          1.797          0              180            1.212          70
  38  Egg             1.597          0.979          1.798          0              180            0              70
  39  Cup             1.430          0.080          2.251          0              0              0              52
  40  Pan             -1.109         0.930          1.865          0              0              0              67
  41  Spoon           1.597          0.945          1.673          0              270            0              70
  42  Mug             -0.964         0.810          0.118          0              90             0              75
  43  CounterTop      -0.973         0.973          2.386          0              0              0
  44  Drawer          -0.783         0.774          2.381          0              180            0
  45  StoveBurner     -1.108         0.922          1.470          0              0              0
  46  Drawer          1.370          0.774          2.391          0              0              0
  47  Stool           -0.748         0.008          3.116          0              0              0
  48  CounterTop      1.504          0.973          2.309          0              0              0
  49  Cabinet         1.219          1.388          0.591          0              0              0
  50  Cabinet         1.500          2.113          1.164          0              0              0
  51  Cabinet         1.219          2.010          0.591          0              0              0
  52  Cabinet         1.219          0.388          2.105          0              0              0
  53  Cabinet         1.219          0.553          0.591          0              0              0
  54  Cabinet         -0.913         2.113          1.164          0              0              0
  55  Cabinet         -0.633         0.388          0.627          0              0              0
  56  Cabinet         -0.913         2.050          -0.329         0              0              0
  57  Cabinet         -0.913         2.113          0.583          0              0              0
  58  Cabinet         -0.913         2.113          2.082          0              0              0
  59  Cabinet         -0.913         2.113          1.207          0              0              0
  60  Cabinet         1.500          2.113          2.082          0              0              0
  61  Cabinet         1.500          2.113          1.207          0              0              0
  62  Cabinet         1.500          1.810          2.691          0              0              0
  63  Cabinet         1.500          1.810          2.101          0              0              0
  64  Cabinet         -0.633         0.388          2.105          0              0              0
  65  Cabinet         -0.911         1.810          2.700          0              180            0
  66  Drawer          -0.783         0.774          0.915          0              180            0
  67  StoveBurner     -1.108         0.922          1.865          0              0              0
  68  CounterTop      -0.972         0.973          0.921          0              0              0
  69  Cabinet         1.219          0.388          0.631          0              0              0
  70  Sink            1.544          0.869          1.639          0              180            0
  71  StoveBurner     -0.832         0.922          1.865          0              0              0
  72  StoveBurner     -0.831         0.922          1.470          0              0              0
  73  Drawer          1.370          0.774          0.916          0              0              0
  74  Cabinet         -0.911         1.810          2.111          0              180            0
  75  Fridge          -1.001         0.0            0.119          0              0              0
  76  StoveKnob       -0.648         0.926          1.923          0              270            0
  77  StoveKnob       -0.648         0.926          1.363          0              270            0
  78  StoveKnob       -0.648         0.926          1.513          0              270            0
  79  StoveKnob       -0.648         0.926          1.763          0              270            0
  80  Toaster         -1.002         0.926          2.561          0              90             0
  81  GarbageCan      1.451          -0.029         2.912          0              0              0
  82  Microwave       1.632          1.480          1.645          0              270            0
  83  Window          0.224          1.601          3.509          90             0              0
  84  CoffeeMachine   1.692          0.926          2.453          0              270            0
  85  SinkBasin       1.461          0.833          1.369          0              180            0
  86  LightSwitch     0.451          1.412          -1.674         0              0              0
  87  Faucet          1.707          0.925          1.363          0              270            0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Turn around to face the coffee machine on the counter. | STEP 2: Take the mug from the coffee machine. | STEP 3: Turn to the right and then left towards the sink.  | STEP 4: Lift the mug up to the microwave above the sink. Place the mug inside the microwave and shut the door. After the microwave turns off take the mug out and shut the door. | STEP 5: Look back down at the sink and turn left to go back to the coffee machine. | STEP 6: Put the mug back on the coffee machine. | END