Task: Place a heated mug on a shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.75           0.900          0.75           0              90             0
   1  Vase            3.689          0.882          1.861          0              270            0              80
   2  Potato          0.479          0.948          -1.267         0              0              0              59
   3  Book            -2.420         0.871          3.460          0              225            0              61
   4  DishSponge      -2.936         0.878          3.259          0              225            0              61
   5  ButterKnife     -2.733         0.878          3.559          0              0              0              61
   6  Kettle          0.974          0.957          -1.688         0              180            0              58
   7  Spatula         -1.961         0.927          -0.939         0              0              0              59
   8  Pot             1.328          0.957          -1.420         0              180            0              63
   9  Pot             0.974          0.957          -1.419         0              180            0              77
  10  Fork            -1.748         0.720          -1.001         0              90             0              74
  11  Fork            -2.510         0.879          2.884          0              0              0              61
  12  Spoon           1.703          0.720          -1.377         0              270            0              75
  13  Spoon           -2.152         0.879          3.073          0              270            0              61
  14  Egg             -0.035         0.414          2.112          0              180            0              84
  15  Plate           -1.686         0.123          -0.766         0              0              0              64
  16  Plate           0.665          1.657          -1.675         0              0              0              70
  17  Knife           -0.040         0.950          -1.718         0              90             0              56
  18  Knife           -0.942         0.934          -1.471         0              90             0              59
  19  Tomato          -2.659         0.922          2.715          0              0              0              61
  20  SaltShaker      -1.682         0.714          -0.859         0              0              0              74
  21  SaltShaker      -1.583         0.716          -0.930         0              0              0              74
  22  Bread           0.193          1.655          2.160          0              180            0              84
  23  Lettuce         -2.072         0.977          -1.265         0              0              0              59
  24  Lettuce         -2.072         0.977          -0.288         0              0              0              59
  25  Mug             -2.964         0.873          3.632          0              135            0              61
  26  Apple           -2.539         0.929          3.102          0              135            0              61
  27  Book            -1.888         1.654          -1.710         0              0              0              72
  28  Fork            -1.627         0.912          -1.265         0              0              0              59
  29  Tomato          -3.165         0.925          2.999          0              270            0              61
  30  Egg             0.079          0.414          2.083          0              180            0              84
  31  Kettle          -0.833         0.900          -1.757         0              0              0              59
  32  Vase            1.631          1.656          -1.709         0              0              0              69
  33  Cup             -0.035         0.801          2.023          0              180            0              84
  34  WineBottle      -2.996         0.879          3.444          0              270            0              61
  35  Plate           -2.912         0.878          2.758          0              225            0              61
  36  Spatula         0.124          0.943          -1.573         0              90             0              56
  37  Potato          0.289          0.965          -1.356         0              270            0              56
  38  Pot             -1.738         0.914          0.363          0              0              0              59
  39  Knife           -2.510         0.896          2.715          0              0              0              61
  40  SaltShaker      -2.828         0.871          3.444          0              270            0              61
  41  PepperShaker    -1.938         0.116          -1.799         0              0              0              60
  42  Lettuce         -0.035         1.637          2.160          0              180            0              84
  43  ButterKnife     -2.592         0.874          3.393          0              225            0              61
  44  Bread           1.651          0.993          -1.346         0              0              0              79
  45  Vase            -1.331         1.658          -1.747         0              0              0              72
  46  DishSponge      0.179          0.930          -1.646         0              270            0              56
  47  Apple           0.307          0.444          2.025          0              180            0              84
  48  Pan             0.972          0.959          -1.426         0              0              0              77
  49  Spoon           -1.616         0.720          -0.788         0              90             0              74
  50  SoapBottle      -2.058         1.657          -1.784         0              0              0              55
  51  Mug             -1.112         0.958          -1.479         0              0              0              96
  52  Statue          -2.510         0.881          3.728          0              0              0              61
  53  Statue          3.668          0.540          1.800          0              0              0              82
  54  Bowl            0.150          0.112          -1.415         0              0              0              67
  55  Cabinet         -2.171         2.009          -1.538         0              0              0
  56  Sink            0.024          0.771          -1.708         0              270            0
  57  Cabinet         1.444          2.259          -1.542         0              0              0
  58  StoveBurner     0.974          0.957          -1.688         0              180            0
  59  CounterTop      -1.866         0.947          -0.614         0              0              0
  60  Cabinet         -2.217         0.373          -1.874         0              0              0
  61  DiningTable     -2.663         0.002          3.208          0              0              0
  62  StoveBurner     1.328          0.957          -1.688         0              180            0
  63  StoveBurner     1.328          0.957          -1.420         0              180            0
  64  Cabinet         -1.478         0.373          -1.235         0              0              0
  65  Cabinet         1.775          0.372          -1.242         0              0              0
  66  Cabinet         0.774          0.372          -1.242         0              0              0
  67  Cabinet         0.375          0.372          -1.242         0              0              0
  68  Cabinet         -0.574         0.372          -1.238         0              0              0
  69  Cabinet         1.775          2.009          -1.542         0              0              0
  70  Cabinet         0.524          2.009          -1.542         0              0              0
  71  Cabinet         -0.714         2.009          -1.542         0              0              0
  72  Cabinet         -1.671         2.009          -1.538         0              0              0
  73  Cabinet         0.854          2.259          -1.542         0              0              0
  74  Drawer          -1.636         0.683          -0.930         0              0              0
  75  Drawer          1.650          0.682          -1.396         0              0              0
  76  Drawer          0.600          0.682          -1.396         0              0              0
  77  StoveBurner     0.974          0.957          -1.419         0              180            0
  78  Drawer          -2.062         0.683          -1.579         0              0              0
  79  CounterTop      1.645          0.945          -1.527         0              0              0
  80  Shelf           3.725          0.880          1.671          0              90             0
  81  LightSwitch     2.830          1.266          -0.748         0              0              0
  82  Shelf           3.726          0.552          1.671          0              90             0
  83  Microwave       1.150          1.655          -1.614         0              0              0
  84  Fridge          -0.035         0.0            2.177          0              180            0
  85  Window          -0.115         1.802          -1.896         90             0              0
  86  Window          -4.009         1.799          0.310          90             90             0
  87  Shelf           3.726          0.172          1.671          0              90             0
  88  SinkBasin       -0.330         0.686          -1.581         0              270            0
  89  GarbageCan      -0.870         -0.001         2.136          0              90             0
  90  StoveKnob       1.089          0.913          -1.243         45             0              0
  91  StoveKnob       1.208          0.913          -1.243         45             0              0
  92  StoveKnob       1.340          0.913          -1.243         45             0              0
  93  StoveKnob       0.961          0.913          -1.243         45             0              0
  94  Toaster         1.637          0.900          -1.673         0              0              0
  95  Chair           -3.505         0.002          3.290          0              105.736        0
  96  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  97  HousePlant      -2.663         0.835          3.209          0              0              0
  98  Faucet          -0.187         0.922          -1.75          0              311.166        0
  99  ShelvingUnit    3.726          0.006          1.671          0              90             0
 100  Stool           -2.501         -0.000         0.062          1.223          91.243         0
 101  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 102  Chair           -2.934         0.002          2.437          0              28.531         0
 103  Chair           -1.698         0.002          3.235          0              245.204        0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Turn around and move to the end of the kitchen counter then turn left and move to the dishwasher next to the sink. | STEP 2: Remove the mug from the coffee maker. | STEP 3: Turn left, move towards the oven, then turn right and face the microwave above the oven.  | STEP 4: Place the mug in the microwave, heat it using the microwave, then take the mug out of the microwave and close the microwave door. | STEP 5: Turn left and move towards the wall past the oven then turn left and move towards the refrigerator, then turn right and move towards the door, and turn left and move to the shelves in the corner of the room. | STEP 6: Place the mug on the shelves' top shelf to the right of the red vase. | END