Task: Put a heated mug in the 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          1.75           0              180            0
   1  Pan             -1.320         1.636          1.086          0              180            0              87
   2  SprayBottle     -0.754         1.655          -0.786         0              0              0              52
   3  SprayBottle     -1.294         1.655          -0.204         0              0              0              55
   4  CellPhone       1.117          0.884          2.800          0              0              0              99
   5  CellPhone       1.117          0.884          2.153          0              0              0              99
   6  DishSponge      0.951          0.885          2.584          0              0              0              99
   7  ButterKnife     -1.383         0.748          2.459          0              0              0              48
   8  Glassbottle     1.450          0.887          2.261          0              0              0              99
   9  WineBottle      -0.919         0.749          2.830          0              0              0              48
  10  Pot             0.802          0.939          -0.740         0              90             0              76
  11  Cup             -1.320         0.750          0.778          0              90             0              87
  12  Plate           1.324          2.155          1.043          0              0              0              58
  13  Knife           1.523          0.933          0.139          0              90             0              67
  14  Knife           1.117          0.908          2.692          0              0              0              99
  15  Tomato          1.200          0.936          2.261          0              0              0              99
  16  Bowl            -1.012         0.747          1.902          0              0              0              48
  17  PepperShaker    -1.513         0.908          -0.477         0              0              0              73
  18  Mug             -1.320         0.746          0.883          0              90             0              87
  19  Mug             -0.925         1.651          -0.786         0              0              0              53
  20  Mug             1.215          0.943          -0.633         0              320.314        0              86
  21  Apple           -1.383         0.809          2.087          0              0              0              48
  22  Bread           -1.105         0.813          2.644          0              0              0              48
  23  Glassbottle     -1.197         0.750          3.015          0              0              0              48
  24  Fork            1.034          0.886          2.477          0              90             0              99
  25  Kettle          1.207          0.912          0.422          0              0              0              67
  26  Tomato          -0.020         0.808          -0.651         0              0              0              94
  27  Plate           1.128          0.912          0.139          0              0              0              67
  28  CellPhone       -1.099         0.774          0.245          0              180            0              69
  29  Lettuce         1.238          0.969          -0.16          0              0              0              67
  30  Pot             0.502          0.939          -0.740         0              90             0              74
  31  SoapBottle      1.049          0.912          -0.144         0              0              0              67
  32  WineBottle      0.951          0.887          2.261          0              0              0              99
  33  Spatula         -1.123         0.927          -0.748         0              90             0              73
  34  Bowl            -1.197         0.747          2.273          0              0              0              48
  35  Apple           1.444          0.971          0.139          0              0              0              67
  36  Cup             1.117          0.885          2.584          0              0              0              99
  37  Knife           -1.197         0.770          1.902          0              90             0              48
  38  Egg             -1.263         1.455          0.673          0              90             0              87
  39  SaltShaker      -0.293         0.112          -0.446         0              0              0              73
  40  PepperShaker    1.444          0.907          0.422          0              0              0              67
  41  Potato          -1.329         1.060          -0.057         0              90             0              93
  42  ButterKnife     -0.813         0.912          -0.509         0              0              0              73
  43  DishSponge      -1.105         0.749          2.087          0              0              0              48
  44  Pan             -1.332         0.9            -0.699         0              345.0          0              73
  45  Spoon           -1.105         0.750          3.015          0              0              0              48
  46  SprayBottle     1.365          0.910          -0.144         0              0              0              67
  47  Mug             1.286          0.906          -0.428         0              0              0              67
  48  DiningTable     -1.182         0.006          2.414          0              90             0
  49  Cabinet         1.184          2.059          0.375          0              0              0
  50  Cabinet         1.184          2.059          -0.635         0              0              0
  51  Cabinet         0.591          2.309          -0.645         0              0              0
  52  Cabinet         -0.574         2.059          -0.644         0              0              0
  53  Cabinet         -1.103         2.059          -0.644         0              0              0
  54  Cabinet         -1.185         2.059          -0.331         0              0              0
  55  Cabinet         -1.185         2.059          -0.281         0              0              0
  56  Cabinet         -1.185         2.059          0.375          0              0              0
  57  Cabinet         1.184          2.309          1.174          0              0              0
  58  Cabinet         1.184          2.309          0.424          0              0              0
  59  Cabinet         0.988          0.402          0.581          0              0              0
  60  Cabinet         0.988          0.402          0.531          0              0              0
  61  Cabinet         0.988          0.402          -0.178         0              0              0
  62  Cabinet         0.335          0.402          -0.348         0              0              0
  63  Cabinet         -0.374         0.402          -0.348         0              0              0
  64  Cabinet         0.988          0.402          1.231          0              0              0
  65  Cabinet         -1.185         2.309          1.374          0              0              0
  66  Cabinet         -1.185         2.309          0.424          0              0              0
  67  CounterTop      1.274          0.947          0.064          0              0              0
  68  Drawer          1.116          0.792          -0.015         0              0              0
  69  Drawer          -1.116         0.792          0.210          0              180            0
  70  Cabinet         -0.990         0.402          0.374          0              180            0
  71  Drawer          -1.116         0.792          -0.170         0              180            0
  72  Cabinet         -0.990         0.402          -0.335         0              180            0
  73  CounterTop      -1.001         0.947          -0.669         0              0              0
  74  StoveBurner     0.502          0.932          -0.740         0              90             0
  75  StoveBurner     0.801          0.932          -0.473         0              0              0
  76  StoveBurner     0.801          0.932          -0.740         0              90             0
  77  Drawer          1.116          0.792          1.081          0              0              0
  78  Sink            -0.013         0.912          -0.615         0              0              0
  79  Drawer          1.116          0.792          0.732          0              0              0
  80  StoveBurner     0.502          0.932          -0.469         0              0              0
  81  Drawer          1.116          0.792          0.367          0              0              0
  82  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  83  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  84  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  85  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  86  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  87  Fridge          -1.300         0.008          0.987          0              90             0
  88  GarbageCan      1.296          -0.024         1.465          0              0              0
  89  Window          -0.012         1.641          -0.972         90             0              0
  90  Window          1.598          1.646          2.489          90             270            0
  91  Toaster         1.356          0.900          1.044          0              270            0
  92  LightSwitch     0.118          1.353          3.799          0              180            0
  93  Microwave       -1.343         0.900          0.053          0              90             0
  94  SinkBasin       -0.029         0.748          -0.612         0              0              0
  95  Faucet          -0.026         0.927          -0.808         0              0              0
  96  Shelf           -1.182         0.127          2.414          0              90             0
  97  Stool           1.140          0.007          3.262          1.206          20.753         0
  98  Shelf           -1.182         0.435          2.414          0              90             0
  99  DiningTable     1.169          0.014          2.569          0              0              1.896
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Turn right and walk over to the white table, then hang a left and walk up to the counter. | STEP 2: Open the second upper cabinet door from the left and take out the black mug, then close the cabinet. | STEP 3: Look down and turn right to face the microwave. | STEP 4: Heat up the mug in the microwave for a couple seconds then take it out and close the microwave. | STEP 5: Turn around and walk up to the sink. | STEP 6: Put the heated mug in the sink basin to the right of the tomato. | END