Task: Put a heated mug in the cupboard 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           1.5            0.900          0.5            0              180            0
   1  Potato          -0.160         0.959          0.991          0              0              0              78
   2  Potato          -1.572         1.533          -0.806         0              90             0              69
   3  ButterKnife     0.180          0.930          0.534          0              0              0              78
   4  Pot             -1.438         0.857          -0.910         0              180            0              69
   5  Pot             1.567          0.948          -0.757         0              0              0              43
   6  Spatula         1.153          0.928          -2.002         0              0              0              61
   7  Egg             1.618          0.967          -1.751         0              0              0              61
   8  Cup             0.294          0.930          0.991          0              0              0              78
   9  Plate           1.850          0.916          -1.918         0              0              0              61
  10  Plate           1.647          0.916          -1.329         0              0              0              61
  11  Tomato          -0.137         0.816          -2.071         0              0              0              73
  12  Bowl            0.066          0.927          0.762          0              0              0              78
  13  Lettuce         0.522          1.011          0.534          0              0              0              78
  14  PepperShaker    0.066          0.923          0.076          0              0              0              78
  15  Mug             -0.047         0.925          0.305          0              0              0              78
  16  Mug             -0.616         0.908          -2.167         0              0              0              61
  17  Apple           -1.553         1.254          -0.599         0              90             0              69
  18  Apple           -1.186         1.086          -1.638         0              90             0              67
  19  Apple           -0.160         0.997          0.762          0              0              0              78
  20  Potato          0.066          0.959          1.448          0              0              0              78
  21  Bowl            -1.277         1.656          -1.729         0              90             0              44
  22  SoapBottle      1.464          0.879          2.483          0              0              0              82
  23  Fork            -1.109         0.914          -2.224         0              90             0              61
  24  Ladle           1.913          1.702          -1.199         0              270            0              52
  25  Bread           0.399          0.964          0.110          0              0              1.601          78
  26  Lettuce         -0.283         0.845          -2.026         0              0              0              73
  27  WineBottle      1.566          0.881          2.429          0              0              0              82
  28  Spatula         0.294          0.941          0.305          0              0              0              78
  29  Plate           -1.438         1.187          -0.806         0              90             0              69
  30  SaltShaker      0.457          0.909          -2.085         0              0              0              61
  31  Pot             0.408          0.928          1.220          0              90             0              78
  32  Cup             1.294          0.119          -1.968         0              0              0              53
  33  PepperShaker    -0.160         0.926          0.076          0              0              0              78
  34  Pan             1.824          0.945          -0.346         0              0              0              42
  35  ButterKnife     0.066          0.930          0.305          0              0              0              78
  36  Tomato          -0.824         0.965          -2.167         0              0              0              61
  37  DishSponge      1.748          0.120          -1.463         0              270            0              55
  38  Egg             -1.284         1.059          -1.742         0              90             0              67
  39  Spoon           -0.064         0.765          -2.026         0              180            0              73
  40  Knife           0.119          0.936          -1.689         0              0              0              61
  41  Mug             1.181          0.114          -1.968         0              0              0              53
  42  StoveBurner     1.845          0.940          -0.355         0              0              0
  43  StoveBurner     1.567          0.940          -0.757         0              0              0
  44  Cabinet         -1.149         2.019          -1.979         0              90             0
  45  Cabinet         -1.149         2.265          -0.834         0              90             0
  46  Cabinet         -0.459         2.265          -2.0           0              0              0
  47  Cabinet         -1.100         2.019          -2.0           0              0              0
  48  Cabinet         1.719          2.019          -2.0           0              0              0
  49  Cabinet         1.179          2.019          -2.0           0              0              0
  50  Cabinet         0.199          2.019          -2.0           0              0              0
  51  Cabinet         1.75           2.019          -1.399         0              270            0
  52  Cabinet         1.75           2.019          -1.029         0              270            0
  53  Cabinet         1.379          0.469          -1.689         0              0              0
  54  Cabinet         -0.819         0.469          -1.689         0              0              0
  55  Cabinet         1.389          0.469          -1.059         0              270            0
  56  Cabinet         -0.839         0.469          -1.665         0              90             0
  57  StoveBurner     1.567          0.940          -0.355         0              0              0
  58  StoveBurner     1.845          0.940          -0.757         0              0              0
  59  Sink            -0.109         0.893          -2.009         0              0              0
  60  Drawer          -0.819         0.75           -1.690         0              0              0
  61  CounterTop      0.232          0.949          -2.002         0              0              0
  62  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  63  Vase            0.251          0.546          0.475          0              270            0
  64  Toaster         0.780          0.900          -2.080         0              0              0
  65  LightSwitch     0.108          1.315          2.75           0              180            0
  66  Vase            0.400          0.925          0.218          0              180            0
  67  Microwave       -1.233         0.900          -1.680         0              90             0
  68  Vase            1.465          1.662          -2.200         0              0              0
  69  Fridge          -1.495         0.0            -0.703         0              0              0
  70  Window          2.114          1.495          1.072          90             270            0
  71  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  72  Vase            0.333          0.546          1.272          0              270            0
  73  SinkBasin       -0.148         0.753          -2.026         0              0              0
  74  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  75  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  76  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  77  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  78  DiningTable     0.170          0.005          0.678          0              270            0
  79  Shelf           0.170          0.155          0.678          0              270            0
  80  Shelf           1.605          0.172          2.480          0              0              0
  81  Shelf           1.605          0.552          2.480          0              0              0
  82  Shelf           1.604          0.880          2.479          0              0              0
  83  ShelvingUnit    1.605          0.006          2.480          0              0              0
  84  Faucet          -0.143         1.028          -2.223         0              270            0
  85  Stool           -0.553         0.000          0.871          1.233          280.376        0
  86  Shelf           0.170          0.528          0.678          0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn right, then left then right and go towards the fridge, then turn left and go to the sink | STEP 2: Pick up the mug from the counter | STEP 3: Turn right and go to the microwave | STEP 4: Heat the mug in the microwave with the fruit then take the mug out of the microwave | STEP 5: Lift the mug up high towards the cupboard above the microwave | STEP 6: Put the mug in the cupboard next to the bowl | END