Task: Get a mug from the cupboard, heat it in the microwave, put it back in the cupboard

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          2.25           0              0              0
   1  CreditCard      -0.767         0.908          -1.449         0              0              0              72
   2  CreditCard      -1.987         0.743          -1.094         0              0              0              67
   3  DishSponge      0.202          0.745          -1.138         0              0              0              73
   4  DishSponge      -1.548         1.662          -1.284         0              0              0              46
   5  ButterKnife     0.759          1.111          0.652          0              315            0              65
   6  Pot             -2.800         0.821          0.852          0              90             0              84
   7  Fork            -2.499         0.747          0.163          0              90             0              70
   8  Fork            -2.585         0.747          0.036          0              0              0              70
   9  Spatula         -0.767         0.926          -1.449         0              90             0              72
  10  Cup             -2.521         0.909          -0.062         0              0              0              64
  11  Cup             0.241          1.004          -1.347         0              0              0              85
  12  Egg             0.346          1.040          -1.281         0              0              0              85
  13  Egg             -1.591         0.884          -1.25          0              0              0              82
  14  SoapBottle      -0.239         0.912          -1.365         0              0              0              72
  15  Tomato          -2.740         1.722          0.771          0              90             0              84
  16  Lettuce         -2.860         1.752          1.013          0              90             0              84
  17  PepperShaker    -0.998         0.113          -1.105         0              0              0              45
  18  PepperShaker    -2.736         2.039          1.222          0              0              0              57
  19  Apple           -2.619         1.525          1.094          0              90             0              84
  20  Pan             -2.800         1.472          0.852          0              0              0              84
  21  Apple           -1.073         0.903          -1.360         0              0              0              82
  22  Fork            -2.770         0.911          -0.147         0              0              0              64
  23  Kettle          -2.588         0.116          0.238          0              90             0              53
  24  CreditCard      -2.438         0.908          -0.062         0              0              0              72
  25  Bread           0.920          0.965          -1.282         0              0              0              72
  26  Plate           0.394          1.113          1.325          0              315            0              65
  27  SoapBottle      -2.757         0.038          1.431          0              0              0              83
  28  Spatula         1.067          1.126          0.960          0              315            0              65
  29  Lettuce         -2.860         0.457          0.932          0              90             0              84
  30  SaltShaker      0.057          1.658          -1.246         0              0              0              59
  31  Tomato          0.156          1.161          1.715          0              315            0              65
  32  PepperShaker    -2.886         2.039          1.444          0              0              0              57
  33  ButterKnife     -2.236         0.911          -1.115         0              0              0              72
  34  Pot             -2.622         0.928          -0.396         0              0              0              66
  35  Potato          -0.598         0.933          -1.119         0              47.530         0              72
  36  DishSponge      0.198          0.115          -0.984         0              0              0              54
  37  Egg             0.398          1.040          -1.347         0              0              0              85
  38  Spoon           -2.628         0.747          0.163          0              0              0              70
  39  Knife           -0.137         1.134          1.555          0              315            0              65
  40  Cup             -2.490         1.661          -1.435         0              0              0              55
  41  Mug             0.372          1.654          -1.353         0              0              0              51
  42  Bowl            -2.692         0.910          -1.365         0              0              0              72
  43  Cabinet         -2.647         2.075          -0.875         0              0              0
  44  Cabinet         -2.647         2.075          -0.234         0              0              0
  45  Cabinet         -0.824         0.469          -0.907         0              0              0
  46  Cabinet         -1.764         2.009          -1.197         0              0              0
  47  Cabinet         -1.834         2.009          -1.197         0              0              0
  48  Cabinet         -1.850         0.389          -0.897         0              0              0
  49  Cabinet         -1.801         0.469          -0.907         0              0              0
  50  Cabinet         1.115          2.009          -1.197         0              0              0
  51  Cabinet         0.235          2.009          -1.197         0              0              0
  52  Cabinet         1.125          0.470          -0.897         0              0              0
  53  Cabinet         -2.387         0.389          0.375          0              0              0
  54  Cabinet         0.484          0.389          -0.897         0              0              0
  55  Cabinet         -2.625         2.009          -1.197         0              0              0
  56  Cabinet         -2.647         2.009          -0.945         0              0              0
  57  Cabinet         -2.647         2.200          1.664          0              0              0
  58  Cabinet         -2.647         2.009          0.364          0              0              0
  59  Cabinet         0.164          2.009          -1.197         0              0              0
  60  Cabinet         -0.765         2.009          -1.197         0              0              0
  61  Cabinet         -0.834         2.009          -1.197         0              0              0
  62  Cabinet         -2.647         2.200          0.434          0              0              0
  63  StoveBurner     -2.622         0.886          -0.711         0              0              0
  64  CounterTop      -2.699         0.946          0.106          0              0              0
  65  CounterTop      0.908          1.147          0.788          0              315            0
  66  StoveBurner     -2.622         0.886          -0.396         0              0              0
  67  Drawer          -2.026         0.779          -1.082         0              0              0
  68  Sink            -1.328         0.916          -1.225         0              0              0
  69  StoveBurner     -2.822         0.886          -0.711         0              0              0
  70  Drawer          -2.572         0.779          0.099          0              0              0
  71  StoveBurner     -2.822         0.886          -0.396         0              0              0
  72  CounterTop      0.071          0.946          -1.199         0              0              0
  73  Drawer          0.254          0.779          -1.082         0              0              0
  74  LightSwitch     -1.167         1.307          3.0            0              180            0
  75  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  76  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  77  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  78  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  79  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  80  Window          0.321          1.449          3.088          90             0              0
  81  Toaster         -2.823         0.899          0.246          0              90             0
  82  SinkBasin       -1.344         0.838          -1.25          0              0              0
  83  GarbageCan      -2.757         1.886          1.466          0              0              0
  84  Fridge          -2.855         0.0            0.851          0              0              0
  85  Microwave       0.283          0.900          -1.331         0              0              0
  86  Stool           1.541          0.010          1.328          0              45             0
  87  Stool           0.983          0.010          1.793          0              47.459         0
  88  Faucet          -1.392         1.136          -1.399         0              270            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn to your left and walk to the microwave oven on the other side of the room | STEP 2: Look up to the cupboard above the microwave, open the cupboard on the left, pick up the white mug, close the cupboard | STEP 3: Look down to the microwave | STEP 4: Open the door of the microwave, place the mug on the left end of the plate in the microwave, close the door, turn the microwave on; once it turns off, open the microwave door, pick up the mug, close the door | STEP 5: Look up the cupboard above the microwave | STEP 6: Open the middle cupboard, place the mug in the center of the cupboard, close the cupboard | END