Task: Place a chilled 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           0.0            0.900          2.0            0              180            0
   1  Potato          0.180          0.959          0.076          0              0              0              76
   2  Ladle           0.384          1.703          -2.162         0              0              0              48
   3  ButterKnife     0.522          0.926          1.448          0              90             0              76
   4  Pot             0.408          0.920          0.305          0              0              0              76
   5  Spoon           -0.047         0.928          0.762          0              0              0              76
   6  Spoon           0.921          0.914          -2.169         0              90             0              59
   7  Fork            0.294          0.927          0.991          0              0              0              76
   8  Egg             1.557          0.967          -1.563         0              0              0              59
   9  Egg             -0.047         0.984          0.305          0              0              0              76
  10  Knife           0.066          0.950          1.220          0              0              0              76
  11  Tomato          0.066          0.978          0.305          0              0              0              76
  12  PepperShaker    0.294          0.926          1.220          0              0              0              76
  13  PepperShaker    1.465          1.656          -2.086         0              0              0              46
  14  Bread           0.386          0.964          0.604          0              358.786        0              76
  15  Mug             1.362          0.875          2.483          0              0              0              85
  16  Apple           -1.610         0.930          -0.392         0              90             0              67
  17  Apple           -1.323         0.930          -0.392         0              90             0              67
  18  Potato          -0.137         0.793          -2.116         0              0              0              71
  19  Bowl            -1.495         1.180          -0.806         0              90             0              67
  20  SoapBottle      1.557          0.912          -1.680         0              0              0              59
  21  Fork            -0.047         0.927          0.991          0              0              0              76
  22  Ladle           1.828          0.957          -1.797         0              0              0              59
  23  Bread           0.066          0.975          0.762          0              0              0              76
  24  Lettuce         -1.429         0.925          -0.542         0              315            0              67
  25  WineBottle      0.180          0.931          1.448          0              0              0              76
  26  Spatula         0.180          0.945          0.305          0              90             0              76
  27  Plate           1.773          0.556          2.482          0              0              0              79
  28  SaltShaker      -0.576         0.108          -1.917         0              0              0              52
  29  Pot             1.567          0.948          -0.757         0              0              0              41
  30  Cup             0.408          0.930          1.448          0              0              0              76
  31  PepperShaker    1.462          0.549          2.431          0              0              0              86
  32  Pan             1.824          0.945          -0.346         0              0              0              40
  33  ButterKnife     0.119          0.913          -1.750         0              0              0              59
  34  Tomato          0.313          0.983          0.827          35.734         9.083          7.545          76
  35  DishSponge      0.008          0.764          -1.981         0              0              0              71
  36  Egg             0.066          0.984          0.076          0              0              0              76
  37  Spoon           -0.210         0.765          -2.026         0              0              0              71
  38  Knife           0.689          0.936          -1.834         0              0              0              59
  39  Mug             -1.000         0.908          -2.224         0              0              0              59
  40  StoveBurner     1.845          0.940          -0.355         0              0              0
  41  StoveBurner     1.567          0.940          -0.757         0              0              0
  42  Cabinet         -1.149         2.019          -1.979         0              90             0
  43  Cabinet         -1.149         2.265          -0.834         0              90             0
  44  Cabinet         -0.459         2.265          -2.0           0              0              0
  45  Cabinet         -1.100         2.019          -2.0           0              0              0
  46  Cabinet         1.719          2.019          -2.0           0              0              0
  47  Cabinet         1.179          2.019          -2.0           0              0              0
  48  Cabinet         0.199          2.019          -2.0           0              0              0
  49  Cabinet         1.75           2.019          -1.399         0              270            0
  50  Cabinet         1.75           2.019          -1.029         0              270            0
  51  Cabinet         1.379          0.469          -1.689         0              0              0
  52  Cabinet         -0.819         0.469          -1.689         0              0              0
  53  Cabinet         1.389          0.469          -1.059         0              270            0
  54  Cabinet         -0.839         0.469          -1.665         0              90             0
  55  StoveBurner     1.567          0.940          -0.355         0              0              0
  56  StoveBurner     1.845          0.940          -0.757         0              0              0
  57  Sink            -0.109         0.893          -2.009         0              0              0
  58  Drawer          -0.819         0.75           -1.690         0              0              0
  59  CounterTop      0.232          0.949          -2.002         0              0              0
  60  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  61  Vase            0.251          0.546          0.475          0              270            0
  62  Toaster         0.780          0.900          -2.080         0              0              0
  63  LightSwitch     0.108          1.315          2.75           0              180            0
  64  Vase            0.400          0.925          0.218          0              180            0
  65  Microwave       -1.233         0.900          -1.680         0              90             0
  66  Vase            1.465          1.662          -2.200         0              0              0
  67  Fridge          -1.495         0.0            -0.703         0              0              0
  68  Window          2.114          1.495          1.072          90             270            0
  69  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  70  Vase            0.333          0.546          1.272          0              270            0
  71  SinkBasin       -0.148         0.753          -2.026         0              0              0
  72  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  73  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  74  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  75  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  76  DiningTable     0.170          0.005          0.678          0              270            0
  77  Shelf           0.170          0.155          0.678          0              270            0
  78  Shelf           1.605          0.172          2.480          0              0              0
  79  Shelf           1.605          0.552          2.480          0              0              0
  80  Shelf           1.604          0.880          2.479          0              0              0
  81  ShelvingUnit    1.605          0.006          2.480          0              0              0
  82  Faucet          -0.143         1.028          -2.223         0              270            0
  83  Stool           -0.553         0.000          0.871          1.233          280.376        0
  84  Shelf           0.170          0.528          0.678          0              270            0
  85
  86
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn right, hang a left at the wall, turn left just before the fridge and turn right to walk to the counter ahead. | STEP 2: Pick up the white mug to the left of the microwave on the counter. | STEP 3: Turn around and walk to the black fridge on the left. | STEP 4: Put the mug inside the fridge on the lowest shelf to the left of the head of lettuce, chill it for seven seconds, remove it and close the door. | STEP 5: Turn around, hang a right towards the counter with the sink and turn right to face the microwave. | STEP 6: Put the chilled mug inside the microwave on a plate and close the door. | END