Task: heat up a mug and place it 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           -0.25          1.124          -1.25          0              180            0
   1  Pan             -0.630         1.331          -3.301         0              180            0              45
   2  DishSponge      -1.730         0.419          -1.217         0              0              0              54
   3  DishSponge      -1.308         1.322          -3.425         0              0              0              48
   4  WineBottle      -2.179         1.323          -1.681         0              0              0              48
   5  WineBottle      -1.308         1.323          -3.203         0              0              0              48
   6  Kettle          -0.239         1.331          -3.301         0              180            0              43
   7  Kettle          -1.665         0.344          -2.262         0              0              0              44
   8  Spoon           -1.530         1.324          2.069          0              0              0              48
   9  Spoon           -1.687         0.421          -0.561         0              0              0              52
  10  Spatula         -1.737         1.343          -1.117         0              90             0              55
  11  Spatula         -1.648         1.343          -1.255         0              0              0              78
  12  Egg             -1.826         1.091          -0.405         0              0              0              66
  13  Egg             -1.954         1.091          -0.633         0              0              0              66
  14  SaltShaker      -1.818         0.338          1.110          0              0              0              49
  15  PepperShaker    -1.750         0.338          1.523          0              0              0              49
  16  Bread           -1.530         1.397          1.094          0              0              0              48
  17  Mug             0.965          1.371          -1.534         0              270            0              69
  18  Apple           1.056          1.806          2.112          0              270            0              61
  19  Apple           -1.920         1.371          1.419          0              0              0              48
  20  Bread           -1.513         1.380          0.662          0              0              0              48
  21  Pot             -1.817         0.350          0.613          0              0              0              46
  22  Knife           0.206          1.352          -3.121         0              90             0              48
  23  Bowl            0.970          1.522          1.786          0              270            0              61
  24  Potato          -2.049         1.362          -1.681         0              0              0              48
  25  SoapBottle      0.861          1.207          1.222          0              0              0              73
  26  Fork            -1.915         1.336          -1.049         0              0              0              55
  27  Cup             -1.954         1.048          -0.451         0              0              0              66
  28  Kettle          -2.049         1.324          1.094          0              0              0              48
  29  Egg             -1.657         0.321          2.316          0              270            0              63
  30  Pan             0.563          1.322          -3.011         0              180            0              48
  31  SaltShaker      1.193          1.202          1.254          0              0              0              73
  32  WineBottle      0.824          0.345          -2.371         0              180            0              47
  33  Lettuce         -1.380         1.399          -2.981         0              0              0              48
  34  Spatula         -1.308         1.337          -3.314         0              0              0              48
  35  PaperTowelRoll  -1.380         1.427          -2.760         0              0              0              48
  36  Tomato          -1.790         1.356          -2.721         0              0              0              48
  37  Plate           -2.049         1.323          0.770          0              0              0              48
  38  PepperShaker    0.824          0.339          -1.751         0              180            0              47
  39  DishSponge      0.857          0.460          0.710          0              0              0              74
  40  Spoon           -2.049         1.324          -3.241         0              0              0              48
  41  Apple           -1.610         0.329          2.193          0              270            0              63
  42  Mug             0.506          1.318          -3.164         0              0              0              48
  43  StoveBurner     -0.239         1.325          -3.301         0              180            0
  44  Cabinet         -1.461         0.775          -2.002         0              0              0
  45  StoveBurner     -0.630         1.325          -3.301         0              180            0
  46  Cabinet         -1.461         0.775          0.470          0              0              0
  47  Cabinet         0.578          0.776          -2.054         0              0              0
  48  CounterTop      -1.809         1.358          1.182          0              0              0
  49  Cabinet         -1.461         0.775          1.310          0              0              0
  50  Faucet          -2.063         1.362          -0.726         0              39.391         0
  51  StoveBurner     -0.749         1.325          -2.973         0              0              0
  52  Drawer          -1.610         0.681          -0.430         0              0              0
  53  Window          -2.566         1.799          -0.822         270            0              0
  54  Drawer          -1.610         0.681          -1.217         0              0              0
  55  Sink            -1.990         1.143          -0.975         0              0              0
  56  StoveBurner     -0.125         1.325          -2.973         0              0              0
  57  StoveKnob       -0.185         1.338          -2.741         0              270            180
  58  StoveKnob       -0.336         1.338          -2.741         0              270            180
  59  StoveKnob       -0.569         1.338          -2.741         0              270            180
  60  StoveKnob       -0.707         1.338          -2.741         0              270            180
  61  Fridge          1.013          0.227          1.917          0              270            0
  62  Microwave       0.994          1.310          -2.163         0              270            0
  63  GarbageCan      -1.633         0.212          2.192          0              270            0
  64  LightSwitch     1.386          1.565          -0.657         0              270            0
  65  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  66  SinkBasin       -1.835         1.039          -0.542         0              0              0
  67  ButterKnife     0.873          0.468          0.651          0              0              0
  68  Toaster         -1.885         1.310          -2.512         0              90             0
  69  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  70  Drawer          0.647          1.061          0.680          0              270            0
  71  Drawer          0.648          1.061          1.020          0              270            0
  72  Drawer          0.648          0.843          1.020          0              270            0
  73  SideTable       0.975          0.220          0.869          0              270            0
  74  Drawer          0.648          0.602          0.680          0              270            0
  75  Drawer          0.648          0.596          1.020          0              270            0
  76  Drawer          0.648          0.843          0.680          0              270            0
  77  Stool           0.606          0.222          -1.084         1.233          280.489        0
  78
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: look down and then turn left towards the counter | STEP 2: look at the coffee maker and grab a cup | STEP 3: turn left with the cup in your hand walk forward then turn right at the microwave | STEP 4: open up the microwave and then place cup inside and close the door turn on microwave then pull the cup back out close the door  | STEP 5: holding the cup turn left and then turn right towards the sink | STEP 6: open the cabinet and place cup inside on the shelf and then close the cabinet  | END