Task: Put a heated mug in the lower right cabinet.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.901          -3.0           0              180            0
   1  Pan             -2.449         0.912          -3.878         0              90             0              38
   2  Potato          -0.500         0.959          -1.370         0              0              0              65
   3  DishSponge      -0.352         1.296          -3.730         0              45             0              58
   4  DishSponge      -2.987         0.913          -3.581         0              0              0              38
   5  Spatula         -1.845         0.805          -3.661         0              270            0              80
   6  Spoon           -0.338         0.917          -0.472         0              0              0              65
   7  Plate           -2.581         0.711          -0.496         0              270            0              82
   8  Plate           -1.569         0.081          -3.673         0              0              0              54
   9  SoapBottle      0.007          0.913          -3.213         0              0              0              38
  10  SoapBottle      -0.374         0.080          -1.414         0              0              0              43
  11  Bowl            -0.244         0.911          -2.911         0              0              0              38
  12  SaltShaker      -0.412         0.742          -2.913         0              0              0              68
  13  PepperShaker    -3.140         0.742          -2.802         0              0              0              60
  14  PepperShaker    -0.095         0.912          -1.616         0              0              0              65
  15  Lettuce         -3.130         1.486          -1.941         0              90             0              79
  16  Mug             -0.176         0.910          -0.507         0              0              0              65
  17  Pot             -0.376         0.975          -2.031         0              180            0              67
  18  Egg             -1.895         0.949          -3.989         0              0              0              38
  19  Cup             -1.638         0.790          -3.832         0              0              0              80
  20  Bread           -0.327         0.948          -3.681         0              298.222        0              38
  21  Fork            -0.530         0.746          -1.331         0              90             0              61
  22  Pan             -0.394         0.973          -2.414         0              0              0              63
  23  Potato          -3.234         0.685          -2.125         0              90             0              79
  24  Lettuce         -2.708         0.804          -0.741         0              135            0              82
  25  Tomato          -3.130         1.448          -2.125         0              90             0              79
  26  Apple           -1.707         0.833          -3.661         0              0              0              80
  27  SoapBottle      -3.292         0.716          -0.683         0              270            0              82
  28  Spatula         -3.007         0.728          -0.496         0              270            0              82
  29  SaltShaker      -3.007         0.710          -0.683         0              270            0              82
  30  Knife           -0.257         0.948          -1.493         0              0              0              65
  31  PepperShaker    -0.176         0.912          -1.309         0              0              0              65
  32  ButterKnife     -3.292         0.713          -0.433         0              270            0              82
  33  Plate           -2.007         0.079          -3.674         0              0              0              59
  34  DishSponge      -2.660         1.294          -3.927         0              0              0              51
  35  Spoon           -3.082         0.747          -2.912         0              90             0              60
  36  Mug             -2.930         0.762          -0.358         0              135            0              78
  37  Bowl            -3.079         0.638          -2.125         0              90             0              79
  38  CounterTop      -1.789         0.949          -3.803         0              0              0
  39  Cabinet         -0.577         0.388          -3.476         0              0              0
  40  Cabinet         -0.605         0.388          -3.511         0              0              0
  41  Cabinet         -2.976         0.388          -3.201         0              0              0
  42  Cabinet         -0.577         0.388          -0.447         0              0              0
  43  Cabinet         -0.577         0.388          -1.725         0              0              0
  44  Cabinet         -0.226         1.803          -1.743         0              0              0
  45  Cabinet         -0.228         1.799          -0.447         0              0              0
  46  Cabinet         -6.010         1.139          -6.019         0              0              0
  47  Cabinet         -3.022         2.098          -2.681         0              0              0
  48  Cabinet         -3.022         2.098          -1.743         0              0              0
  49  Cabinet         -0.577         0.388          -2.736         0              0              0
  50  Cabinet         -3.232         1.803          -3.343         0              0              0
  51  Cabinet         -2.811         1.810          -3.764         0              0              0
  52  Cabinet         -1.233         1.810          -3.764         0              0              0
  53  Cabinet         -1.364         0.388          -3.511         0              0              0
  54  Cabinet         -1.380         0.388          -3.511         0              0              0
  55  Cabinet         -0.226         1.803          -2.725         0              0              0
  56  Cabinet         -0.236         2.098          -1.767         0              0              0
  57  Cabinet         -0.236         2.098          -2.705         0              0              0
  58  Cabinet         -0.193         1.210          -4.239         0              0              0
  59  Cabinet         -2.148         0.388          -3.511         0              0              0
  60  Drawer          -3.104         0.797          -2.968         0              0              0
  61  Drawer          -0.449         0.797          -1.410         0              0              0
  62  Sink            -1.786         0.902          -3.748         0              0              0
  63  StoveBurner     -0.376         0.936          -2.451         0              0              0
  64  Drawer          -0.449         0.797          -0.762         0              0              0
  65  CounterTop      -0.268         0.951          -1.089         0              0              0
  66  Drawer          -0.449         0.797          -3.348         0              0              0
  67  StoveBurner     -0.376         0.936          -2.031         0              180            0
  68  Drawer          -0.449         0.797          -2.968         0              0              0
  69  StoveBurner     -0.165         0.936          -2.030         0              180            0
  70  StoveBurner     -0.165         0.936          -2.450         0              0              0
  71  StoveKnob       -0.568         0.903          -2.313         45             270            0
  72  StoveKnob       -0.568         0.903          -2.470         45             270            0
  73  StoveKnob       -0.568         0.903          -2.166         45             270            0
  74  StoveKnob       -0.568         0.903          -2.003         45             270            0
  75  Microwave       -0.143         0.903          -0.908         0              270            0
  76  LightSwitch     -1.108         1.457          0.338          0              180            0
  77  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  78  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  79  Fridge          -3.188         0.0            -2.184         0              0              0
  80  SinkBasin       -1.786         0.779          -3.747         0              0              0
  81  Toaster         -0.230         0.903          -3.406         0              270            0
  82  DiningTable     -2.800         0.003          -0.505         0              0              0
  83  Chair           -3.044         0.003          -1.223         0              32.194         0
  84  Faucet          -1.791         1.136          -3.913         0              270            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Turn around and head to the microwave on the counter on the right.  | STEP 2: Pick up the mug on the counter, left of the microwave.  | STEP 3: Bring the mug to the microwave. | STEP 4: Heat the mug in the microwave.  | STEP 5: Bring the mug to the cabinet below the microwave. | STEP 6: Put the mug in the right cabinet under the microwave.  | END