Task: warm a mug and put it in the cabinet

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           1.124          1.25           0              180            0
   1  Pan             -1.530         1.322          0.120          0              0              0              54
   2  DishSponge      -1.818         0.343          1.317          0              0              0              55
   3  DishSponge      -1.094         1.322          -2.760         0              0              0              54
   4  WineBottle      -1.749         0.344          0.512          0              0              0              52
   5  Spoon           0.861          1.208          1.222          0              0              0              79
   6  Spoon           0.897          0.954          0.983          0              0              0              77
   7  Pot             0.766          1.329          -2.053         0              0              0              54
   8  Egg             -1.610         0.321          2.234          0              270            0              69
   9  Cup             0.824          0.342          -2.371         0              180            0              53
  10  Cup             0.957          1.943          1.612          0              270            0              67
  11  Plate           -1.826         1.064          -0.542         0              0              0              72
  12  Plate           -1.790         1.323          2.069          0              0              0              54
  13  Knife           -1.915         1.365          -1.186         0              180            0              61
  14  Knife           -1.915         1.358          -0.980         0              180            0              61
  15  SoapBottle      -1.750         0.344          1.213          0              0              0              55
  16  Tomato          -1.826         1.367          -0.980         0              0              0              61
  17  Bowl            -1.818         0.342          1.007          0              0              0              55
  18  SaltShaker      -1.952         0.338          0.412          0              0              0              52
  19  SaltShaker      0.900          0.339          -1.751         0              180            0              53
  20  PepperShaker    0.944          1.202          1.222          0              0              0              79
  21  Bread           -1.530         1.397          -2.981         0              0              0              54
  22  Lettuce         0.492          1.399          -3.232         0              0              0              54
  23  Mug             -1.614         0.338          0.110          0              0              0              52
  24  Mug             -2.179         1.318          -2.981         0              0              0              54
  25  Mug             1.276          1.202          1.238          0              0              0              79
  26  Bread           -1.513         1.380          0.662          0              0              0              54
  27  Pot             -0.749         1.332          -2.973         0              0              0              57
  28  Knife           0.349          1.352          -2.900         0              0              0              54
  29  Bowl            -2.004         1.334          -1.255         0              0              0              61
  30  Potato          0.933          1.985          1.730          0              0              0              67
  31  SoapBottle      -1.681         0.280          2.151          0              0              0              69
  32  Fork            0.766          1.323          -0.942         0              0              0              54
  33  Cup             0.938          1.754          2.230          0              270            0              67
  34  Kettle          -1.660         1.324          1.419          0              0              0              54
  35  Egg             -1.681         0.321          2.069          0              270            0              69
  36  Pan             -0.239         1.331          -3.301         0              180            0              49
  37  SaltShaker      1.129          0.339          -1.957         0              180            0              53
  38  WineBottle      -1.886         0.344          1.420          0              0              0              55
  39  Lettuce         1.017          1.833          2.053          0              270            0              67
  40  Spatula         -1.559         1.343          -0.911         0              0              0              61
  41  PaperTowelRoll  1.027          1.312          1.222          0              0              0              79
  42  Tomato          -2.179         1.356          -3.241         0              0              0              54
  43  Plate           1.053          0.345          -2.164         0              180            0              53
  44  PepperShaker    -1.518         0.415          -0.430         0              0              0              58
  45  DishSponge      -2.093         1.333          -1.117         0              0              0              61
  46  Spoon           0.277          1.324          -2.789         0              0              0              54
  47  Apple           -2.179         1.371          1.419          0              0              0              54
  48  Mug             0.896          1.318          -2.424         0              0              0              54
  49  StoveBurner     -0.239         1.325          -3.301         0              180            0
  50  Cabinet         -1.461         0.775          -2.002         0              0              0
  51  StoveBurner     -0.630         1.325          -3.301         0              180            0
  52  Cabinet         -1.461         0.775          0.470          0              0              0
  53  Cabinet         0.578          0.776          -2.054         0              0              0
  54  CounterTop      -1.809         1.358          1.182          0              0              0
  55  Cabinet         -1.461         0.775          1.310          0              0              0
  56  Faucet          -2.063         1.362          -0.726         0              39.391         0
  57  StoveBurner     -0.749         1.325          -2.973         0              0              0
  58  Drawer          -1.610         0.681          -0.430         0              0              0
  59  Window          -2.566         1.799          -0.822         270            0              0
  60  Drawer          -1.610         0.681          -1.217         0              0              0
  61  Sink            -1.990         1.143          -0.975         0              0              0
  62  StoveBurner     -0.125         1.325          -2.973         0              0              0
  63  StoveKnob       -0.185         1.338          -2.741         0              270            180
  64  StoveKnob       -0.336         1.338          -2.741         0              270            180
  65  StoveKnob       -0.569         1.338          -2.741         0              270            180
  66  StoveKnob       -0.707         1.338          -2.741         0              270            180
  67  Fridge          1.013          0.227          1.917          0              270            0
  68  Microwave       0.994          1.310          -2.163         0              270            0
  69  GarbageCan      -1.633         0.212          2.192          0              270            0
  70  LightSwitch     1.386          1.565          -0.657         0              270            0
  71  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  72  SinkBasin       -1.835         1.039          -0.542         0              0              0
  73  ButterKnife     0.873          0.468          0.651          0              0              0
  74  Toaster         -1.885         1.310          -2.512         0              90             0
  75  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  76  Drawer          0.647          1.061          0.680          0              270            0
  77  Drawer          0.648          1.061          1.020          0              270            0
  78  Drawer          0.648          0.843          1.020          0              270            0
  79  SideTable       0.975          0.220          0.869          0              270            0
  80  Drawer          0.648          0.602          0.680          0              270            0
  81  Drawer          0.648          0.596          1.020          0              270            0
  82  Drawer          0.648          0.843          0.680          0              270            0
  83  Stool           0.606          0.222          -1.084         1.233          280.489        0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: go to the counter where the microwave is | STEP 2: pick up the white mug to the left of the microwave | STEP 3: approach the microwave with the cup | STEP 4: warm the cup in the microwave then remove | STEP 5: take the cup to the cabinet to the right of the sink | STEP 6: put the mug in the cabinet  | END