Task: Pick up mug, heat in microwave, put into 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              0              0
   1  SprayBottle     1.286          0.910          -0.428         0              0              0              71
   2  Potato          -1.194         0.386          1.302          0              90             0              91
   3  CellPhone       1.450          0.884          2.692          0              0              0              103
   4  DishSponge      -1.437         0.911          -0.477         0              0              0              77
   5  DishSponge      0.103          0.758          -0.691         0              0              0              98
   6  Spoon           -1.012         0.750          2.459          0              0              0              52
   7  Spoon           -0.919         0.750          2.830          0              0              0              52
   8  Spatula         -0.919         0.764          2.644          0              0              0              52
   9  Spatula         1.450          0.901          2.369          0              90             0              103
  10  Pot             -1.206         1.421          0.778          0              90             0              91
  11  Egg             -1.206         1.455          0.988          0              90             0              91
  12  Egg             -1.296         1.049          -0.057         0              90             0              97
  13  Cup             -1.325         2.152          1.262          0              0              0              69
  14  Plate           -1.220         0.117          0.248          0              180            0              74
  15  Plate           -1.383         0.750          2.644          0              0              0              52
  16  Tomato          -1.149         1.338          0.778          0              90             0              91
  17  Tomato          1.034          0.936          2.800          0              0              0              103
  18  SoapBottle      -1.388         1.657          -0.052         0              90             0              59
  19  SoapBottle      -1.123         0.913          -0.828         0              0              0              77
  20  Bread           -1.320         1.700          0.883          0              90             0              91
  21  Lettuce         -1.206         0.822          0.778          0              90             0              91
  22  PepperShaker    1.207          0.907          -0.428         0              0              0              71
  23  PepperShaker    -0.314         0.908          -0.933         0              0              0              77
  24  Mug             1.174          0.112          0.071          0              0              0              65
  25  Mug             -0.020         0.753          -0.651         0              0              0              98
  26  Bread           1.128          0.974          0.139          0              0              0              71
  27  Glassbottle     1.365          0.912          -0.144         0              0              0              71
  28  Fork            1.286          0.912          0.139          0              0              0              71
  29  Kettle          1.034          0.887          2.153          0              0              0              103
  30  Tomato          -1.378         0.800          1.302          0              90             0              91
  31  Plate           1.128          0.912          0.706          0              0              0              71
  32  CellPhone       -1.278         0.909          -0.907         0              0              0              77
  33  Lettuce         1.367          0.957          2.369          0              0              0              103
  34  Pot             0.502          0.939          -0.740         0              90             0              78
  35  SoapBottle      1.357          0.087          1.440          0              0              0              92
  36  WineBottle      1.284          0.887          2.153          0              0              0              103
  37  Spatula         -1.105         0.764          1.902          0              0              0              52
  38  Bowl            1.444          0.909          0.139          0              0              0              71
  39  Apple           -1.296         1.075          0.046          0              90             0              97
  40  Cup             -1.135         0.911          -0.477         0              0              0              77
  41  Knife           -0.813         0.934          -0.669         0              0              0              77
  42  Egg             -1.394         1.049          -0.109         0              90             0              97
  43  SaltShaker      -1.475         0.745          2.830          0              0              0              52
  44  PepperShaker    1.034          0.882          2.477          0              0              0              103
  45  Potato          1.200          0.931          2.800          0              0              0              103
  46  ButterKnife     1.200          0.886          2.261          0              0              0              103
  47  DishSponge      -1.127         0.775          0.209          0              180            0              73
  48  Pan             1.286          0.911          0.422          0              90             0              71
  49  Spoon           -1.012         0.750          2.273          0              0              0              52
  50  SprayBottle     1.367          0.885          2.584          0              0              0              103
  51  Mug             -1.162         0.336          0.883          0              90             0              91
  52  DiningTable     -1.182         0.006          2.414          0              90             0
  53  Cabinet         1.184          2.059          0.375          0              0              0
  54  Cabinet         1.184          2.059          -0.635         0              0              0
  55  Cabinet         0.591          2.309          -0.645         0              0              0
  56  Cabinet         -0.574         2.059          -0.644         0              0              0
  57  Cabinet         -1.103         2.059          -0.644         0              0              0
  58  Cabinet         -1.185         2.059          -0.331         0              0              0
  59  Cabinet         -1.185         2.059          -0.281         0              0              0
  60  Cabinet         -1.185         2.059          0.375          0              0              0
  61  Cabinet         1.184          2.309          1.174          0              0              0
  62  Cabinet         1.184          2.309          0.424          0              0              0
  63  Cabinet         0.988          0.402          0.581          0              0              0
  64  Cabinet         0.988          0.402          0.531          0              0              0
  65  Cabinet         0.988          0.402          -0.178         0              0              0
  66  Cabinet         0.335          0.402          -0.348         0              0              0
  67  Cabinet         -0.374         0.402          -0.348         0              0              0
  68  Cabinet         0.988          0.402          1.231          0              0              0
  69  Cabinet         -1.185         2.309          1.374          0              0              0
  70  Cabinet         -1.185         2.309          0.424          0              0              0
  71  CounterTop      1.274          0.947          0.064          0              0              0
  72  Drawer          1.116          0.792          -0.015         0              0              0
  73  Drawer          -1.116         0.792          0.210          0              180            0
  74  Cabinet         -0.990         0.402          0.374          0              180            0
  75  Drawer          -1.116         0.792          -0.170         0              180            0
  76  Cabinet         -0.990         0.402          -0.335         0              180            0
  77  CounterTop      -1.001         0.947          -0.669         0              0              0
  78  StoveBurner     0.502          0.932          -0.740         0              90             0
  79  StoveBurner     0.801          0.932          -0.473         0              0              0
  80  StoveBurner     0.801          0.932          -0.740         0              90             0
  81  Drawer          1.116          0.792          1.081          0              0              0
  82  Sink            -0.013         0.912          -0.615         0              0              0
  83  Drawer          1.116          0.792          0.732          0              0              0
  84  StoveBurner     0.502          0.932          -0.469         0              0              0
  85  Drawer          1.116          0.792          0.367          0              0              0
  86  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  87  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  88  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  89  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  90  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  91  Fridge          -1.300         0.008          0.987          0              90             0
  92  GarbageCan      1.296          -0.024         1.465          0              0              0
  93  Window          -0.012         1.641          -0.972         90             0              0
  94  Window          1.598          1.646          2.489          90             270            0
  95  Toaster         1.356          0.900          1.044          0              270            0
  96  LightSwitch     0.118          1.353          3.799          0              180            0
  97  Microwave       -1.343         0.900          0.053          0              90             0
  98  SinkBasin       -0.029         0.748          -0.612         0              0              0
  99  Faucet          -0.026         0.927          -0.808         0              0              0
 100  Shelf           -1.182         0.127          2.414          0              90             0
 101  Stool           1.140          0.007          3.262          1.206          20.753         0
 102  Shelf           -1.182         0.435          2.414          0              90             0
 103  DiningTable     1.169          0.014          2.569          0              0              1.896
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Turn around, proceed to sink directly across the room. | STEP 2: Pick up black mug from center of sink, to the right of the green sponge. | STEP 3: Turn right, proceed to counter with microwave. | STEP 4: Open microwave, put mug in back of microwave, to the right of the back egg, close door.  Wait three seconds, open microwave door,  remove mug, shut microwave door. | STEP 5: Turn left, proceed to sink, turn right to face sink. | STEP 6: Place mug in bottom right corner of sink. | END