Task: Putting a hot mug in a cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          -1.25          0              270            0
   1  Potato          -0.937         0.598          -0.034         0              90             0              64
   2  Spoon           -0.793         0.939          0.687          0              0              0              57
   3  Spoon           1.275          0.747          0.984          0              90             0              62
   4  Pot             -1.109         0.930          1.865          0              0              0              56
   5  Knife           -0.792         0.768          1.050          0              270            0              55
   6  Knife           1.483          0.768          1.052          0              270            0              62
   7  Tomato          1.489          0.131          2.879          0              0              0              70
   8  SaltShaker      1.516          0.934          0.739          0              0              0              37
   9  Lettuce         -1.126         1.028          0.843          0              0              0              57
  10  Apple           -0.877         1.368          -0.034         0              90             0              64
  11  Lettuce         1.458          1.014          1.677          3.773          58.902         356.164        59
  12  SoapBottle      1.589          1.500          2.277          0              0              0              52
  13  Bread           -0.914         0.990          2.264          0              302.204        0              32
  14  Fork            -1.125         0.936          2.310          357.975        1.033          349.513        32
  15  Tomato          -1.012         0.876          -0.034         0              90             0              64
  16  Bowl            1.391          0.078          0.918          0              0              0              58
  17  Pot             -1.109         0.930          1.470          0              0              0              34
  18  Spatula         1.592          0.952          2.022          0              0              0              37
  19  Knife           -0.896         0.768          2.517          0              270            0              33
  20  SaltShaker      1.501          1.068          0.478          0              0              0              37
  21  Apple           -0.937         0.615          0.348          0              90             0              64
  22  PepperShaker    -0.758         0.743          2.313          0              180            0              33
  23  ButterKnife     -0.793         0.937          1.154          0              0              0              57
  24  Potato          -1.065         1.531          0.348          0              90             0              64
  25  Plate           -0.804         0.086          2.528          0              0              0              53
  26  DishSponge      1.414          0.746          2.256          0              0              0              35
  27  Egg             1.716          1.631          1.808          0              270            0              71
  28  Cup             1.619          1.595          1.808          0              270            0              71
  29  Pan             1.378          1.737          0.392          0              270            0              40
  30  Spoon           -0.793         0.939          0.843          0              0              0              57
  31  Mug             1.528          1.002          2.345          0              270            0              37
  32  CounterTop      -0.973         0.973          2.386          0              0              0
  33  Drawer          -0.783         0.774          2.381          0              180            0
  34  StoveBurner     -1.108         0.922          1.470          0              0              0
  35  Drawer          1.370          0.774          2.391          0              0              0
  36  Stool           -0.748         0.008          3.116          0              0              0
  37  CounterTop      1.504          0.973          2.309          0              0              0
  38  Cabinet         1.219          1.388          0.591          0              0              0
  39  Cabinet         1.500          2.113          1.164          0              0              0
  40  Cabinet         1.219          2.010          0.591          0              0              0
  41  Cabinet         1.219          0.388          2.105          0              0              0
  42  Cabinet         1.219          0.553          0.591          0              0              0
  43  Cabinet         -0.913         2.113          1.164          0              0              0
  44  Cabinet         -0.633         0.388          0.627          0              0              0
  45  Cabinet         -0.913         2.050          -0.329         0              0              0
  46  Cabinet         -0.913         2.113          0.583          0              0              0
  47  Cabinet         -0.913         2.113          2.082          0              0              0
  48  Cabinet         -0.913         2.113          1.207          0              0              0
  49  Cabinet         1.500          2.113          2.082          0              0              0
  50  Cabinet         1.500          2.113          1.207          0              0              0
  51  Cabinet         1.500          1.810          2.691          0              0              0
  52  Cabinet         1.500          1.810          2.101          0              0              0
  53  Cabinet         -0.633         0.388          2.105          0              0              0
  54  Cabinet         -0.911         1.810          2.700          0              180            0
  55  Drawer          -0.783         0.774          0.915          0              180            0
  56  StoveBurner     -1.108         0.922          1.865          0              0              0
  57  CounterTop      -0.972         0.973          0.921          0              0              0
  58  Cabinet         1.219          0.388          0.631          0              0              0
  59  Sink            1.544          0.869          1.639          0              180            0
  60  StoveBurner     -0.832         0.922          1.865          0              0              0
  61  StoveBurner     -0.831         0.922          1.470          0              0              0
  62  Drawer          1.370          0.774          0.916          0              0              0
  63  Cabinet         -0.911         1.810          2.111          0              180            0
  64  Fridge          -1.001         0.0            0.119          0              0              0
  65  StoveKnob       -0.648         0.926          1.923          0              270            0
  66  StoveKnob       -0.648         0.926          1.363          0              270            0
  67  StoveKnob       -0.648         0.926          1.513          0              270            0
  68  StoveKnob       -0.648         0.926          1.763          0              270            0
  69  Toaster         -1.002         0.926          2.561          0              90             0
  70  GarbageCan      1.451          -0.029         2.912          0              0              0
  71  Microwave       1.632          1.480          1.645          0              270            0
  72  Window          0.224          1.601          3.509          90             0              0
  73  CoffeeMachine   1.692          0.926          2.453          0              270            0
  74  SinkBasin       1.461          0.833          1.369          0              180            0
  75  LightSwitch     0.451          1.412          -1.674         0              0              0
  76  Faucet          1.707          0.925          1.363          0              270            0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Turn right and go to the coffee maker | STEP 2: Grab the mug in the coffee maker | STEP 3: Turn right and go to the microwave | STEP 4: Heat the mug in the microwave and then take it out | STEP 5: Back up from the counter and look up at the cabinets | STEP 6: Put the mug in the left cabinet above the microwave | END