Task: Warm up the mug in the sink and put it away 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           -1.0           0.901          2.0            0              0              0
   1  Potato          -2.831         0.325          4.649          0              90             0              Floor|-00.05|
   2  Potato          -1.266         0.822          0.281          0              0              0              69
   3  Spoon           -2.377         0.663          0.300          0              0              0              59
   4  Spoon           -2.037         0.929          0.518          0              0              0              51
   5  Cup             -2.888         1.186          4.352          0              90             0              68
   6  Cup             -2.722         0.632          4.575          0              90             0              68
   7  Plate           -1.691         1.777          0.160          0              0              0              46
   8  SoapBottle      -2.480         0.900          2.706          0              0              0              72
   9  SoapBottle      -0.572         0.900          2.530          0              0              0              74
  10  Bowl            -2.136         1.770          0.205          0              0              0              47
  11  SaltShaker      -2.892         0.896          2.045          0              0              0              72
  12  SaltShaker      -2.583         0.896          2.573          0              0              0              72
  13  PepperShaker    -2.892         0.896          2.573          0              0              0              72
  14  PepperShaker    -0.487         0.658          0.409          0              0              0              40
  15  Lettuce         -0.657         0.980          3.535          0              0              0              74
  16  Lettuce         -2.583         0.980          2.309          0              0              0              72
  17  Apple           -2.805         0.688          4.204          0              90             0              68
  18  Apple           -2.892         0.956          2.309          0              0              0              72
  19  Egg             -0.835         0.829          0.281          0              0              0              69
  20  Plate           -0.447         0.890          2.927          0              0              0              74
  21  Fork            -2.628         0.936          3.395          0              0              0              58
  22  Bread           -0.314         0.957          2.530          0              0              0              74
  23  Apple           -1.007         0.852          0.337          0              0              0              69
  24  Lettuce         -0.657         0.980          3.133          0              0              0              74
  25  Spatula         -2.377         0.915          2.441          0              90             0              72
  26  Knife           -1.716         0.688          0.409          0              90             0              54
  27  Potato          -2.628         0.961          3.673          0              0              0              58
  28  Tomato          -2.847         1.250          4.649          0              90             0              68
  29  Cup             -2.789         0.900          2.706          0              0              0              72
  30  SaltShaker      -2.480         0.896          2.441          0              0              0              72
  31  PepperShaker    -0.326         0.658          0.245          0              0              0              40
  32  ButterKnife     -0.380         0.662          0.355          0              90             0              40
  33  SoapBottle      -2.866         0.053          0.351          0              26.101         0              65
  34  Pan             -2.686         0.900          2.045          0              270            0              72
  35  DishSponge      -2.995         0.900          2.177          0              0              0              72
  36  Pot             -0.535         0.928          4.274          0              0              0              55
  37  Spoon           -0.218         0.663          0.409          0              0              0              40
  38  Mug             -1.094         0.790          0.447          0              0              0              69
  39  Bowl            -2.356         1.770          0.251          0              0              0              47
  40  Drawer          -0.325         0.696          0.413          0              0              0
  41  Cabinet         -0.595         0.490          0.648          0              0              0
  42  Cabinet         -0.555         0.490          0.646          0              0              0
  43  Cabinet         -1.591         0.490          0.646          0              0              0
  44  Cabinet         -1.554         0.490          0.646          0              0              0
  45  Cabinet         -2.550         0.490          0.646          0              0              0
  46  Cabinet         -1.514         2.046          0.392          0              0              0
  47  Cabinet         -2.474         2.046          0.392          0              0              0
  48  Cabinet         -1.478         2.046          0.392          0              0              0
  49  Cabinet         -0.518         2.046          0.392          0              0              0
  50  Cabinet         -0.479         2.046          0.392          0              0              0
  51  CounterTop      -1.366         0.952          0.349          0              0              0
  52  Sink            -1.108         0.926          0.340          0              0              0
  53  StoveBurner     -0.254         0.922          4.672          0              0              0
  54  Drawer          -1.824         0.696          0.413          0              0              0
  55  StoveBurner     -0.535         0.922          4.274          0              0              0
  56  StoveBurner     -0.254         0.922          4.274          0              0              0
  57  StoveBurner     -0.536         0.922          4.672          0              0              0
  58  CounterTop      -2.780         0.971          3.487          0              0              0
  59  Drawer          -2.323         0.696          0.413          0              0              0
  60  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  61  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  64  Toaster         -0.286         0.861          3.520          0              270            0
  65  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  66  LightSwitch     -0.064         1.447          1.996          0              270            0
  67  Window          -3.075         1.593          1.361          90             90             0
  68  Fridge          -2.802         0.0            4.427          0              0              0
  69  SinkBasin       -1.106         0.785          0.337          0              0              0
  70  Microwave       -0.358         0.917          0.224          0              0              0
  71  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  72  DiningTable     -2.733         -0.003         2.607          0              270            0
  73  Faucet          -1.077         0.920          0.028          270            270            0
  74  DiningTable     -0.488         -0.003         3.182          0              270            0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: Turn completely around and walk to the sink.  | STEP 2: Pick up the black mug in the sink.  | STEP 3: Turn left, walk slightly forward, turn right and face the microwave.  | STEP 4: Open the microwave, put the mug inside and close the door.  Turn on the microwave.  When it turns off open the microwave door, take out the mug, and close the microwave door.  | STEP 5: Look up at the upper cabinet above the right side of the microwave.  | STEP 6: Open the cabinet door, put the mug inside, and close the cabinet door.  | END