Task: Put a heated mug in the cabinet above the microwave.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.931          -0.5           0              180            0
   1  DishSponge      -0.432         1.046          -1.505         0              0              0              46
   2  Kettle          0.801          0.200          -1.267         0              0              0              57
   3  Kettle          1.068          0.200          -1.339         0              0              0              57
   4  Fork            1.612          1.043          0.091          0              0              0              48
   5  Spoon           0.892          1.054          0.231          0              180            0              44
   6  Spatula         0.516          1.058          0.589          0              90             0              48
   7  Spatula         1.790          1.058          0.630          0              0              0              48
   8  Cup             0.989          1.047          -1.181         0              0              0              46
   9  Plate           -0.517         1.059          -1.289         0              0              0              46
  10  Plate           -1.106         2.041          -1.337         0              0              0              53
  11  SoapBottle      1.968          1.044          0.091          0              0              0              48
  12  Bowl            -0.491         0.202          -1.553         0              0              0              55
  13  Bowl            -1.300         1.227          1.974          0              90             0              61
  14  PepperShaker    0.848          1.038          0.545          0              0              0              48
  15  PepperShaker    -0.323         1.560          -1.545         0              0              0              51
  16  Mug             1.765          1.081          0.331          0              270            0              64
  17  Mug             1.347          1.038          0.763          0              0              0              48
  18  Apple           1.151          0.936          0.194          0              90             0              43
  19  Apple           1.879          1.086          0.091          0              0              0              48
  20  SoapBottle      0.936          1.056          0.331          0              90             0              44
  21  Apple           -1.194         1.759          -1.238         0              0              0              60
  22  Potato          1.882          0.175          2.358          0              270            0              62
  23  Fork            0.031          1.033          0.122          0              0              0              48
  24  Kettle          0.250          1.057          -1.4           0              0              0              58
  25  Pan             0.965          1.035          -1.66          0              290.450        0              46
  26  Tomato          -1.268         1.999          2.242          0              90             0              61
  27  SaltShaker      -0.760         0.198          -1.625         0              0              0              55
  28  Egg             -1.096         1.770          -1.269         0              0              0              60
  29  Cup             -1.386         1.713          1.796          0              90             0              61
  30  Spatula         1.238          1.061          -1.181         0              0              0              46
  31  Knife           0.446          1.069          0.630          0              90             0              48
  32  Lettuce         -1.381         1.548          1.974          0              90             0              61
  33  ButterKnife     0.160          1.043          0.738          0              0              0              48
  34  PepperShaker    1.665          0.199          -1.335         0              0              0              56
  35  DishSponge      -0.670         0.203          -1.337         0              0              0              55
  36  Plate           -1.339         0.215          -1.338         0              0              0              54
  37  Bread           0.405          1.104          0.352          0              337.138        0              48
  38  Spoon           0.657          1.048          -1.118         0              0              0              46
  39  Pot             0.000          1.057          -1.4           0              0              0              45
  40  Mug             0.065          1.038          0.630          0              0              0              48
  41  Bowl            1.741          0.203          -1.480         0              0              0              56
  42  StoveBurner     0.389          1.043          -1.630         0              0              0
  43  SinkBasin       1.211          0.882          0.236          0              90             0
  44  Sink            0.928          0.941          0.324          0              90             0
  45  StoveBurner     0.000          1.048          -1.399         0              0              0
  46  CounterTop      0.196          1.082          -1.504         0              0              0
  47  StoveBurner     0.5            1.048          -1.399         0              0              0
  48  CounterTop      0.968          1.078          0.415          0              0              0
  49  StoveBurner     0.120          1.043          -1.630         0              0              0
  50  Cabinet         1.322          1.955          -1.309         0              0              0
  51  Cabinet         -0.866         1.955          -1.309         0              0              0
  52  Cabinet         1.993          1.403          -1.110         0              0              0
  53  Cabinet         -1.547         2.001          -1.110         0              0              0
  54  Cabinet         -1.526         0.593          -1.110         0              0              0
  55  Cabinet         -0.852         0.589          -1.110         0              0              0
  56  Cabinet         1.990          0.593          -1.110         0              0              0
  57  Cabinet         1.336          0.589          -1.110         0              0              0
  58  StoveBurner     0.250          1.048          -1.399         0              0              0
  59  Toaster         -0.550         1.035          -1.776         0              0              0
  60  Microwave       -1.189         1.624          -1.284         0              0              0
  61  Fridge          -1.286         0.020          1.832          0              90             0
  62  GarbageCan      1.856          -0.019         2.386          0              270            0
  63  LightSwitch     1.016          1.360          2.619          0              180            0
  64  CoffeeMachine   1.929          1.031          0.440          0              270            0
  65  StoveKnob       0.0            1.046          -1.220         0              0              0
  66  StoveKnob       0.090          1.046          -1.220         0              0              0
  67  StoveKnob       0.246          1.046          -1.220         0              0              0
  68  StoveKnob       0.490          1.046          -1.220         0              0              0
  69  StoveKnob       0.389          1.046          -1.220         0              0              0
  70  Faucet          1.277          1.265          0.384          0              90             0
  71  Chair           0.343          0.031          0.976          0              166.747        0
  72  Chair           1.008          0.031          1.034          0              180            0
  73  Chair           1.575          0.031          1.050          0              210.000        0
  74  NorthWall
  75  EastWall
  76  SouthWall
  77  WestWall

Plan:
STEP 1: Move the the counter right of the sink. | STEP 2: Pick up the mug from the coffee machine.  | STEP 3: Bring the mug to the microwave. | STEP 4: Heat the mug in the microwave. | STEP 5: Bring the heated mug to the cabinet above the microwave. | STEP 6: Put the heated mug in the cabinet above the microwave.  | END