Task: Put a microwaved mug on top of a table

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            0.869          -1.5           0              0              0
   1  Spatula         0.817          0.774          -0.252         0              90             0              39
   2  Fork            0.950          0.884          0.029          0              0              0              40
   3  Fork            -1.056         0.901          1.187          0              270            0              66
   4  Pot             -2.097         0.930          1.049          0              0              0              47
   5  Egg             -1.224         0.088          -3.537         0              270            0              55
   6  Cup             -2.054         0.700          -1.091         0              0              0              76
   7  Tomato          -1.056         0.949          1.015          0              270            0              66
   8  SoapBottle      -1.260         0.051          -3.647         0              270            0              55
   9  SoapBottle      0.901          0.663          0.448          0              0              0              45
  10  Bowl            -0.051         0.899          1.187          0              270            0              66
  11  SaltShaker      0.676          0.012          -0.833         0              0              0              43
  12  SaltShaker      0.858          1.460          -0.269         0              0              0              51
  13  Lettuce         -0.051         0.987          0.929          0              270            0              66
  14  Lettuce         -0.252         0.987          0.929          0              270            0              66
  15  Mug             0.824          1.369          -1.880         0              270            0              60
  16  Mug             0.803          0.878          -0.245         0              0              0              40
  17  Apple           0.669          0.718          -2.035         0              270            0              60
  18  Pot             -1.555         0.930          1.049          0              0              0              49
  19  Plate           -2.023         0.692          -1.447         0              0              0              76
  20  Fork            0.841          0.665          0.569          0              0              0              45
  21  SoapBottle      0.787          0.014          -0.250         0              0              0              50
  22  Apple           -1.719         0.755          -1.307         0              0              0              76
  23  Pan             0.740          -0.007         -0.596         0              0              0              43
  24  Egg             0.635          0.213          -2.190         0              270            0              Floor|+01.10|
  25  Spatula         0.671          0.774          0.002          0              270            0              39
  26  Potato          1.040          0.916          -0.913         0              0              0              40
  27  Cup             0.785          1.373          -1.725         0              270            0              60
  28  SaltShaker      1.040          1.460          0.473          0              0              0              52
  29  PepperShaker    0.601          0.660          0.448          0              0              0              45
  30  ButterKnife     -1.970         0.701          -0.983         0              0              0              76
  31  DishSponge      -1.535         0.699          -3.445         0              0              0              67
  32  Bread           0.149          0.944          0.843          0              270            0              66
  33  Lettuce         0.721          0.752          0.387          0              0              0              45
  34  Tomato          0.721          0.712          0.569          0              0              0              45
  35  Spoon           -1.803         0.702          -1.199         0              0              0              76
  36  Knife           0.655          0.906          -0.176         0              180            0              40
  37  Mug             0.787          0.010          0.076          0              0              0              50
  38  Bowl            0.757          0.770          -0.735         0              270            0              63
  39  Drawer          0.706          0.766          -0.125         0              0              0
  40  CounterTop      0.792          0.919          -0.108         0              0              0
  41  Mirror          1.093          1.602          -0.643         0              0              0
  42  StoveBurner     -2.096         0.890          0.785          0              0              0
  43  Cabinet         0.507          0.345          -0.426         0              0              0
  44  StoveBurner     -1.552         0.890          0.785          0              0              0
  45  SideTable       0.770          -0.030         0.443          0              0              0
  46  Sink            0.753          0.882          -0.680         0              0              0
  47  StoveBurner     -2.096         0.890          1.049          0              0              0
  48  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  49  StoveBurner     -1.554         0.890          1.049          0              0              0
  50  Cabinet         0.507          0.345          0.156          0              0              0
  51  Cabinet         0.717          1.822          -0.398         0              0              0
  52  Cabinet         0.717          1.822          0.669          0              0              0
  53  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  54  Toaster         -0.522         0.886          1.081          0              180            0
  55  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  56  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  57  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  58  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  59  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  60  Fridge          0.680          -0.031         -1.957         0              0              0
  61  Window          -2.424         1.639          -2.453         90             270            0
  62  Microwave       -1.994         0.690          -3.651         0              0              0
  63  SinkBasin       0.757          0.762          -0.688         0              270            0
  64  LightSwitch     1.102          1.368          -3.737         0              270            0
  65  Shelf           -0.350         0.124          0.857          0              0              0
  66  DiningTable     -0.350         -0.025         0.857          0              0              0
  67  DiningTable     -1.909         -0.032         -3.507         0              0              0
  68  Blinds          -2.343         2.151          -2.437         0              270            0
  69  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  70  AluminumFoil    0.751          0.225          0.287          0              0              0
  71  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  72  Shelf           0.771          0.226          0.445          0              0              0
  73  Shelf           0.771          0.456          0.446          0              0              0
  74  Faucet          1.025          0.873          -0.678         270            180            0
  75  Shelf           -0.350         0.497          0.857          0              0              0
  76  DiningTable     -1.929         -0.035         -1.398         0              90             0
  77  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn right, turn right, walk straight, turn left to the fridge | STEP 2: Open the fridge, take out the mug at the top, close the fridge | STEP 3: Turn right, turn right, walk straight, turn left to the microwave | STEP 4: Open the microwave, turn on the microwave, close the microwave, open the microwave, take out the mug, close the microwave | STEP 5: Turn left, walk straight, turn left, walk straight to the table with a toaster, turn right to the black table | STEP 6: Put the mug on the table | END