Task: warm up the mug and put it 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           -1.75          0.900          2.75           0              0              0
   1  Potato          -2.744         0.960          1.337          0              90             0              62
   2  Potato          -2.837         1.484          2.045          0              90             0              61
   3  Ladle           -1.465         0.169          0.401          0              0              0              56
   4  Fork            -2.563         0.693          1.474          0              90             0              48
   5  Spatula         -2.735         0.838          0.871          0              0              0              43
   6  Cup             -2.724         1.435          0.288          0              45             0              49
   7  Tomato          -2.671         1.193          2.221          0              90             0              61
   8  Bowl            -2.000         0.121          0.401          0              0              0              55
   9  SaltShaker      -2.608         0.818          0.055          0              0              0              43
  10  PepperShaker    -2.375         0.818          0.426          0              0              0              43
  11  PepperShaker    -1.151         0.818          0.352          0              0              0              43
  12  Bread           -2.782         1.491          2.221          0              90             0              61
  13  Apple           -2.782         0.897          2.485          0              270            0              61
  14  Apple           -2.892         1.216          1.957          0              90             0              61
  15  Apple           -0.362         0.129          2.539          0              0              0              63
  16  Fork            -1.214         0.813          0.498          0              0              0              43
  17  Ladle           -2.609         0.165          1.510          0              0              0              54
  18  Pan             -0.244         0.829          2.075          0              180            0              38
  19  SoapBottle      -0.147         0.821          0.500          0              0              0              43
  20  Pot             -0.531         0.822          2.096          0              0              0              40
  21  Tomato          -0.262         0.106          2.674          0              0              0              63
  22  Potato          -2.837         0.863          2.221          0              90             0              61
  23  SaltShaker      -2.957         0.818          0.426          0              0              0              43
  24  Plate           -2.726         1.148          2.397          0              90             0              61
  25  Spatula         -0.341         0.696          1.194          0              45             0              39
  26  Knife           -1.876         0.849          0.528          0              0              0              43
  27  Egg             -2.844         0.945          1.284          0              90             0              62
  28  Cup             -2.837         0.825          2.045          0              90             0              61
  29  ButterKnife     -2.493         0.812          0.476          0              50.734         0              43
  30  Lettuce         -2.724         0.907          0.203          0              0              0              43
  31  PepperShaker    -0.817         0.818          0.055          0              0              0              43
  32  DishSponge      -2.501         1.848          2.030          0              0              0              37
  33  Bread           -0.979         0.855          0.249          0              29.999         0              43
  34  Spoon           -1.189         0.699          0.377          0              90             0              47
  35  Mug             -0.646         0.888          0.367          0              0              0              71
  36  Bowl            -0.397         0.115          0.914          0              0              0              59
  37  Cabinet         -2.377         2.015          1.720          0              0              0
  38  StoveBurner     -0.244         0.820          2.075          0              180            0
  39  Drawer          -0.402         0.703          1.252          0              0              0
  40  StoveBurner     -0.518         0.820          2.075          0              180            0
  41  Sink            -1.838         0.726          0.343          0              180            0
  42  StoveBurner     -0.244         0.820          1.684          0              0              0
  43  CounterTop      -1.557         0.859          0.277          0              0              0
  44  StoveBurner     -0.518         0.820          1.684          0              0              0
  45  Drawer          -0.404         0.704          0.912          0              0              0
  46  Drawer          -0.861         0.709          0.420          0              0              0
  47  Drawer          -1.133         0.706          0.418          0              0              0
  48  Drawer          -2.589         0.703          1.511          0              0              0
  49  Cabinet         -2.772         1.803          0.508          0              0              0
  50  Cabinet         -2.460         1.803          0.231          0              0              0
  51  Cabinet         -2.781         1.798          0.825          0              0              0
  52  Cabinet         -2.781         1.798          0.815          0              0              0
  53  Cabinet         -2.377         2.009          2.581          0              0              0
  54  Cabinet         -2.442         0.385          1.672          0              0              0
  55  Cabinet         -2.238         0.385          0.564          0              0              0
  56  Cabinet         -1.286         0.385          0.564          0              0              0
  57  Cabinet         -1.262         0.385          0.565          0              0              0
  58  Cabinet         -0.734         0.385          0.565          0              0              0
  59  Cabinet         -0.549         0.385          0.751          0              0              0
  60  Cabinet         -0.549         0.385          1.412          0              0              0
  61  Fridge          -2.782         0.0            2.221          0              0              0
  62  Microwave       -2.794         0.812          1.348          0              90             0
  63  GarbageCan      -0.329         2.205          2.606          0              0              0
  64  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  65  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  66  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  67  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  68  Window          -1.720         1.342          -0.208         90             0              0
  69  Toaster         -0.171         0.812          0.735          0              270            0
  70  SinkBasin       -1.745         0.687          0.295          0              0              0
  71  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  72  LightSwitch     -0.615         1.378          3.0            0              180            0
  73  Faucet          -1.686         0.954          0.176          0              236.223        0
  74  Stool           -1.008         0.008          1.955          0              18.279         0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: turn around and cross the kitchen to the coffee maker | STEP 2: pick up the mug in the coffee maker and turn around | STEP 3: cross the kitchen to the microwave | STEP 4: open the microwave and place the mug inside, close the door and turn on the microwave and then remove | STEP 5: lift the mug above the microwave and open the cabinet  | STEP 6: place the mug in the cabinet and close the door | END