Task: Put a heated mug into a cupboard

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            0.930          -0.25          0              90             0
   1  DishSponge      3.029          0.712          -0.823         0              180            0              39
   2  Kettle          -0.600         0.902          -1.090         0              135            0              41
   3  Fork            3.152          0.713          -0.361         0              270            0              48
   4  Fork            -0.862         0.900          -0.047         0              0              0              52
   5  Apple           0.101          0.974          -1.731         0              0              0              73
   6  Apple           -0.698         0.974          -0.830         0              45             0              52
   7  PepperShaker    2.915          0.173          0.770          0              0              0              61
   8  PepperShaker    -0.789         0.896          0.399          0              0              0              56
   9  Bowl            3.173          1.461          -1.235         0              0              0              66
  10  Egg             1.164          0.938          -1.503         0              0              0              98
  11  Egg             3.155          0.153          1.519          0              225            0              93
  12  Cup             -0.960         0.898          -0.774         0              45             0              52
  13  Plate           -0.953         0.886          0.699          0              0              0              52
  14  Glassbottle     2.966          0.901          -0.300         0              0              0              51
  15  SoapBottle      0.904          1.683          -1.410         0              0              0              67
  16  Potato          2.987          0.785          -0.034         0              90             0              97
  17  Fork            0.179          0.900          -1.445         0              0              0              73
  18  Ladle           -0.868         0.555          1.255          0              0              0              40
  19  Pot             0.423          0.900          0.869          0              0              0              83
  20  Kettle          -0.419         0.902          -1.269         0              315            0              54
  21  Spatula         -0.779         0.915          -0.749         0              135            0              52
  22  Knife           0.533          0.936          0.727          0              180            0              83
  23  Lettuce         1.008          1.313          -1.503         0              0              0              98
  24  Cup             1.164          0.709          -1.433         0              0              0              98
  25  SaltShaker      -0.909         0.514          0.839          0              0              0              49
  26  Egg             -0.244         0.952          -1.594         0              45             0              73
  27  PepperShaker    -0.076         0.510          -1.258         0              45             0              55
  28  ButterKnife     0.533          0.908          0.326          0              0              0              83
  29  Apple           3.354          0.974          -0.279         0              0              0              51
  30  Pan             0.341          0.873          -1.649         0              167.065        0              73
  31  Bread           0.967          0.986          0.322          0              0              0              83
  32  CellPhone       -0.868         0.703          1.343          0              0              0              45
  33  DishSponge      2.888          0.900          0.947          0              0              0              51
  34  Tomato          1.008          0.750          -1.459         0              0              0              98
  35  Spoon           0.330          0.706          -1.475         0              0              0              60
  36  Bowl            3.084          0.172          -0.744         0              0              0              64
  37  Mug             3.049          0.966          0.591          0              270            0              95
  38  Drawer          0.376          0.572          -1.509         0              0              0
  39  Drawer          3.020          0.769          -0.783         0              180            0
  40  Drawer          -0.860         0.577          1.429          0              0              0
  41  StoveBurner     -0.600         0.897          -1.090         0              135            0
  42  Drawer          0.376          0.191          -1.509         0              0              0
  43  Cabinet         1.402          1.874          -1.259         0              0              0
  44  Cabinet         -0.202         1.963          -1.328         0              0              0
  45  Drawer          -0.860         0.765          1.429          0              0              0
  46  Drawer          -0.677         0.765          -0.700         0              0              0
  47  StoveBurner     -0.420         0.897          -0.920         0              135            0
  48  Drawer          3.020          0.769          -0.407         0              180            0
  49  Drawer          -0.860         0.577          0.663          0              0              0
  50  Cabinet         2.819          1.768          -1.850         0              0              0
  51  CounterTop      3.111          0.936          0.019          0              0              0
  52  CounterTop      -1.007         0.935          -0.039         0              0              0
  53  Drawer          -0.860         0.385          0.663          0              0              0
  54  StoveBurner     -0.419         0.897          -1.269         0              315            0
  55  Drawer          -0.047         0.573          -1.324         0              0              0
  56  Drawer          -0.860         0.765          0.663          0              0              0
  57  Drawer          -0.860         0.385          -0.100         0              0              0
  58  Drawer          0.376          0.380          -1.509         0              0              0
  59  Drawer          -0.860         0.765          -0.100         0              0              0
  60  Drawer          0.376          0.765          -1.509         0              0              0
  61  Cabinet         2.849          0.419          0.409          0              0              0
  62  Drawer          -0.047         0.765          -1.324         0              0              0
  63  Cabinet         2.849          0.419          -0.610         0              0              0
  64  Cabinet         2.849          0.419          -0.959         0              0              0
  65  Cabinet         3.069          1.666          -0.709         0              0              0
  66  Cabinet         2.819          1.768          -1.047         0              0              0
  67  Cabinet         0.620          1.874          -1.259         0              0              0
  68  Cabinet         0.140          1.666          -1.559         0              0              0
  69  Cabinet         -0.189         1.666          -1.340         0              0              0
  70  Cabinet         -0.709         1.963          -0.819         0              0              0
  71  Cabinet         -0.920         1.665          -0.620         0              0              0
  72  Drawer          -0.860         0.190          -0.100         0              0              0
  73  CounterTop      0.133          0.935          -1.457         0              0              0
  74  Drawer          3.020          0.769          0.695          0              180            0
  75  Drawer          -0.677         0.577          -0.700         0              0              0
  76  Drawer          -0.860         0.190          1.429          0              0              0
  77  Drawer          -0.047         0.192          -1.324         0              0              0
  78  Drawer          -0.677         0.193          -0.700         0              0              0
  79  Drawer          -0.860         0.577          -0.100         0              0              0
  80  Sink            3.078          0.887          0.086          0              0              0
  81  StoveBurner     -0.239         0.897          -1.089         0              315            0
  82  Drawer          -0.860         0.190          0.663          0              0              0
  83  CounterTop      1.210          0.937          0.463          0              0              0
  84  Drawer          -0.047         0.381          -1.324         0              0              0
  85  Drawer          -0.677         0.387          -0.700         0              0              0
  86  Mirror          -1.295         1.630          0.045          0              0              0
  87  Drawer          -0.860         0.385          1.429          0              0              0
  88  HousePlant      3.196          0.891          -0.368         0              0              0
  89  StoveKnob       -0.090         0.790          -1.009         270            45             0
  90  StoveKnob       -0.280         0.790          -0.819         270            45             0
  91  StoveKnob       -0.180         0.790          -0.920         270            45             0
  92  StoveKnob       -0.370         0.790          -0.720         270            45             0
  93  GarbageCan      3.137          0.025          1.545          0              225            0
  94  Window          3.703          1.675          0.046          90             90             0
  95  CoffeeMachine   3.214          0.890          0.697          0              270            0
  96  LightSwitch     2.592          1.309          -1.880         0              0              0
  97  SinkBasin       3.069          0.736          0.108          0              90             0
  98  Fridge          1.008          0.029          -1.467         0              0              0
  99  Toaster         -1.035         0.873          -0.396         0              90             0
 100  Microwave       -1.034         0.874          1.428          0              90             0
 101  Faucet          3.305          0.886          0.094          270            180            0
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: Turn right then turn left and go just past the table then turn left then right and head to the coffee maker on the counter | STEP 2: Pick up the mug from the coffee maker | STEP 3: Turn right then turn right again and go past the table then turn right and go the wall, then turn left and go to the microwave | STEP 4: Heat the mug in the microwave then take the mug out of the microwave | STEP 5: Turn left and go to the stove then turn right to face the toaster | STEP 6: Put the mug in the cupboard that is to the upper left of the toaster | END