Task: put mug inside kitchen cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          1.75           0              270            0
   1  Potato          -2.671         0.863          2.397          0              90             0              62
   2  Potato          -2.023         0.736          0.253          0              0              0              71
   3  DishSponge      -2.687         0.121          1.589          0              0              0              55
   4  DishSponge      -2.530         0.121          1.550          0              0              0              55
   5  Spoon           -2.581         0.824          0.789          0              0              0              44
   6  Spoon           -1.161         0.699          0.377          0              90             0              48
   7  Spatula         -0.314         0.838          0.426          0              180            0              44
   8  Egg             -2.781         1.167          1.957          0              90             0              62
   9  Cup             -2.659         1.435          0.223          0              45             0              50
  10  Knife           -0.246         0.849          1.103          0              180            0              44
  11  Knife           -1.542         0.849          0.528          0              0              0              44
  12  Tomato          -2.837         1.193          2.485          0              90             0              62
  13  SoapBottle      -0.362         0.054          2.539          0              0              0              64
  14  Bowl            -2.781         1.140          2.133          0              90             0              62
  15  Apple           -2.504         0.896          0.789          0              0              0              44
  16  Apple           -1.538         0.748          0.186          0              0              0              71
  17  Fork            -2.211         0.824          0.528          0              0              0              44
  18  Ladle           -0.371         0.738          0.879          0              45             0              46
  19  Pan             -0.391         0.812          1.108          0              0              0              44
  20  SoapBottle      -2.491         0.821          0.055          0              0              0              44
  21  Pot             -0.518         0.829          1.684          0              0              0              45
  22  Tomato          -2.813         0.873          0.953          0              0              0              44
  23  Potato          -1.151         0.862          0.352          0              0              0              44
  24  SaltShaker      -2.648         0.116          1.471          0              0              0              55
  25  Plate           -2.115         0.130          0.362          0              0              0              56
  26  Spatula         -0.341         0.696          1.194          0              45             0              40
  27  Knife           -2.662         0.819          0.557          90             300.034        0              44
  28  Egg             -1.412         0.721          0.338          0              0              0              71
  29  Cup             -2.671         1.445          2.485          0              90             0              62
  30  ButterKnife     -2.044         0.823          0.549          0              0              0              44
  31  Lettuce         -1.836         0.741          0.238          0              55.910         0              71
  32  PepperShaker    -2.840         0.818          0.426          0              0              0              44
  33  DishSponge      -2.504         0.823          0.625          0              0              0              44
  34  Bread           -0.979         0.855          0.249          0              29.999         0              44
  35  Spoon           -2.044         0.824          0.528          0              0              0              44
  36  Mug             -1.407         0.120          0.440          0              0              0              57
  37  Bowl            -2.782         0.821          2.221          0              90             0              62
  38  Cabinet         -2.377         2.015          1.720          0              0              0
  39  StoveBurner     -0.244         0.820          2.075          0              180            0
  40  Drawer          -0.402         0.703          1.252          0              0              0
  41  StoveBurner     -0.518         0.820          2.075          0              180            0
  42  Sink            -1.838         0.726          0.343          0              180            0
  43  StoveBurner     -0.244         0.820          1.684          0              0              0
  44  CounterTop      -1.557         0.859          0.277          0              0              0
  45  StoveBurner     -0.518         0.820          1.684          0              0              0
  46  Drawer          -0.404         0.704          0.912          0              0              0
  47  Drawer          -0.861         0.709          0.420          0              0              0
  48  Drawer          -1.133         0.706          0.418          0              0              0
  49  Drawer          -2.589         0.703          1.511          0              0              0
  50  Cabinet         -2.772         1.803          0.508          0              0              0
  51  Cabinet         -2.460         1.803          0.231          0              0              0
  52  Cabinet         -2.781         1.798          0.825          0              0              0
  53  Cabinet         -2.781         1.798          0.815          0              0              0
  54  Cabinet         -2.377         2.009          2.581          0              0              0
  55  Cabinet         -2.442         0.385          1.672          0              0              0
  56  Cabinet         -2.238         0.385          0.564          0              0              0
  57  Cabinet         -1.286         0.385          0.564          0              0              0
  58  Cabinet         -1.262         0.385          0.565          0              0              0
  59  Cabinet         -0.734         0.385          0.565          0              0              0
  60  Cabinet         -0.549         0.385          0.751          0              0              0
  61  Cabinet         -0.549         0.385          1.412          0              0              0
  62  Fridge          -2.782         0.0            2.221          0              0              0
  63  Microwave       -2.794         0.812          1.348          0              90             0
  64  GarbageCan      -0.329         2.205          2.606          0              0              0
  65  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  66  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  67  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  68  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  69  Window          -1.720         1.342          -0.208         90             0              0
  70  Toaster         -0.171         0.812          0.735          0              270            0
  71  SinkBasin       -1.745         0.687          0.295          0              0              0
  72  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  73  LightSwitch     -0.615         1.378          3.0            0              180            0
  74  Faucet          -1.686         0.954          0.176          0              236.223        0
  75  Stool           -1.008         0.008          1.955          0              18.279         0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: walk to face sink cabinets | STEP 2: remove mug from cabinet under sink | STEP 3: walk to face microwave | STEP 4: heat and remove mug from microwave | STEP 5: look up to face cabinets above microwave | STEP 6: put mug inside cabinet | END