Task: Heat up a white mug to set it down on the black table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.900          -2.25          0              90             0
   1  Pan             -0.222         0.961          -2.243         0              0              0              60
   2  Potato          -0.397         1.520          -0.413         0              270            0              71
   3  ButterKnife     -0.236         0.941          -1.319         0              0              0              59
   4  Fork            -3.204         0.760          -3.531         0              109.125        0              77
   5  Spoon           -0.475         0.753          -2.846         0              90             0              46
   6  Spatula         -0.397         0.957          -2.729         0              0              0              41
   7  Egg             -0.434         1.529          -0.297         0              270            0              71
   8  Egg             -0.394         0.982          -1.581         0              0              0              59
   9  Cup             -2.761         0.895          -0.290         0              270            0              78
  10  Cup             -0.234         1.580          -2.096         0              270            0              73
  11  Plate           -0.359         1.502          -0.762         0              270            0              71
  12  Tomato          -0.283         1.539          -0.297         0              270            0              71
  13  Bowl            -3.163         0.892          -0.633         0              270            0              78
  14  Bread           -3.759         0.841          -3.387         0              244.125        0              77
  15  Bread           -4.182         0.772          -0.369         0              0              0              76
  16  SaltShaker      -0.436         0.743          -1.413         0              0              0              45
  17  Mug             -0.135         1.497          -1.369         0              0              0              52
  18  Mug             -0.376         1.281          -0.645         0              270            0              71
  19  Apple           -4.062         0.751          -0.187         0              0              0              76
  20  SoapBottle      -0.173         1.500          -2.876         0              0              0              53
  21  Pot             -0.606         0.802          -3.419         0              315            0              70
  22  Fork            -0.721         0.814          -3.491         0              315            0              70
  23  Cup             -4.002         0.691          -0.308         0              0              0              76
  24  Tomato          -0.293         1.337          -0.878         0              270            0              71
  25  Pan             -3.755         0.758          -3.043         0              334.125        0              77
  26  Plate           -4.064         0.774          -3.466         0              244.125        0              77
  27  Bread           -3.364         0.976          -0.290         0              270            0              78
  28  Spatula         -0.394         0.956          -1.538         0              0              0              59
  29  Knife           -2.560         0.920          -0.204         0              0              0              78
  30  SaltShaker      -4.182         0.687          -0.187         0              0              0              76
  31  PepperShaker    -0.406         0.747          -2.578         0              0              0              46
  32  ButterKnife     -2.962         0.894          -0.548         0              270            0              78
  33  Apple           -0.134         1.636          -1.937         0              270            0              73
  34  DishSponge      -3.780         0.759          -3.591         0              199.125        0              77
  35  Potato          -2.560         0.926          -0.548         0              270            0              78
  36  Egg             -3.942         0.732          -0.126         0              0              0              76
  37  Spoon           -3.882         0.692          -0.248         0              90             0              76
  38  Lettuce         -0.321         1.579          -0.994         0              270            0              71
  39  Mug             -2.359         0.889          -0.204         0              270            0              78
  40  Bowl            -0.469         0.078          -2.737         0              0              0              54
  41  CounterTop      -1.937         0.977          -3.673         0              0              0
  42  StoveBurner     -0.437         0.924          -1.845         0              180            0
  43  StoveBurner     -0.222         0.924          -1.845         0              180            0
  44  StoveBurner     -0.437         0.924          -2.243         0              0              0
  45  Drawer          -0.500         0.779          -1.450         0              0              0
  46  Drawer          -0.481         0.777          -2.739         0              0              0
  47  Drawer          -1.154         0.782          -3.499         0              0              0
  48  Cabinet         -0.337         2.110          -0.390         0              0              0
  49  Cabinet         -0.337         2.110          -1.272         0              0              0
  50  Cabinet         -0.337         2.110          -1.631         0              0              0
  51  Cabinet         -0.337         2.110          -2.497         0              0              0
  52  Cabinet         -0.337         1.891          -1.286         0              0              0
  53  Cabinet         -0.346         1.891          -3.293         0              0              0
  54  Cabinet         -0.629         0.388          -2.513         0              0              0
  55  Cabinet         -0.633         0.388          -3.008         0              0              0
  56  Cabinet         -1.010         0.388          -3.368         0              0              0
  57  Cabinet         -0.629         0.388          -1.614         0              0              0
  58  Cabinet         -0.327         1.886          -2.513         0              0              0
  59  CounterTop      -0.326         0.976          -1.450         0              0              0
  60  StoveBurner     -0.222         0.924          -2.243         0              0              0
  61  Sink            -0.600         0.929          -3.388         0              0              0
  62  StoveKnob       -0.617         0.899          -1.833         315            90             180
  63  StoveKnob       -0.617         0.899          -2.129         315            90             180
  64  StoveKnob       -0.617         0.899          -2.289         315            90             180
  65  StoveKnob       -0.617         0.899          -1.975         315            90             180
  66  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  67  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  68  Window          -1.389         1.610          -4.113         90             0              0
  69  LightSwitch     -4.372         1.493          -1.031         0              90             0
  70  SinkBasin       -0.614         0.802          -3.384         0              315            0
  71  Fridge          -0.314         0.0            -0.646         0              0              0
  72  Toaster         -1.970         0.930          -3.763         0              0              0
  73  Microwave       -0.216         1.470          -2.054         0              270            0
  74  Blinds          -1.373         2.205          -3.961         0              0              0
  75  Faucet          -0.393         0.930          -3.614         270            225            0
  76  SideTable       -4.030         0.002          -0.301         0              185.034        0
  77  DiningTable     -3.586         0.000          -3.258         0              0              0
  78  DiningTable     -3.224         -0.003         -0.453         0              0              0
  79  Shelf           -4.030         0.259          -0.301         0              185.034        0
  80  Shelf           -4.030         0.489          -0.301         0              185.034        0
  81  EastWall
  82  EastWall
  83  SouthWall

Plan:
STEP 1: Turn to face the counter next to the refrigerator, walk towards it. | STEP 2: Take the white mug out of the upper cabinet next to the fridge. | STEP 3: Walk towards the microwave. | STEP 4: Put the white mug in the microwave on the plate and heat it up, remove it again. | STEP 5: Turn left and then walk to the end of the room, turn right at the door and face the black table. | STEP 6: Set the white mug down on the table in the lower right-hand corner. | END