Task: Putting a mug 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          0.900          2.25           0              0              0
   1  Kettle          1.411          0.929          0.064          0              0              0              74
   2  Fork            -2.372         0.911          1.530          0              0              0              73
   3  Spoon           -2.318         0.775          0.809          0              90             0              50
   4  Spoon           -2.318         0.774          1.322          0              90             0              76
   5  Spatula         -2.348         0.789          1.322          0              90             0              76
   6  Spatula         1.361          0.933          -1.301         0              45             0              59
   7  Egg             1.687          0.215          0.623          0              0              0              84
   8  Egg             -2.289         0.941          1.530          0              0              0              73
   9  Cup             -2.605         1.535          1.119          0              0              0              58
  10  Plate           -2.621         0.913          0.931          0              0              0              73
  11  Knife           -0.341         0.936          1.094          0              0              0              45
  12  Knife           -2.196         0.799          1.417          0              270            0              76
  13  Tomato          -2.559         0.637          -1.051         0              90             0              77
  14  Tomato          1.562          0.227          0.679          0              0              0              84
  15  Bowl            -2.439         1.086          -0.979         0              90             0              77
  16  PepperShaker    -0.341         0.905          0.870          0              0              0              45
  17  Lettuce         0.048          0.994          1.764          0              0              0              45
  18  Lettuce         -2.455         0.994          0.631          0              0              0              73
  19  Bread           -0.211         0.996          1.764          0              0              0              45
  20  Apple           1.684          0.972          -0.684         0              0              0              55
  21  Apple           -2.621         0.972          1.230          0              0              0              73
  22  Pan             0.0            0.9            0.948          0              29.999         0              45
  23  Knife           -2.196         0.799          0.391          0              90             0              62
  24  Apple           -2.532         1.150          -0.696         0              90             0              77
  25  Bowl            -2.564         1.534          0.125          0              0              0              68
  26  Fork            -2.257         0.774          0.857          0              90             0              50
  27  Bread           -2.289         0.996          0.931          0              0              0              73
  28  Plate           0.373          1.666          -1.766         0              90             0              52
  29  Egg             -2.289         0.941          0.031          0              0              0              73
  30  Kettle          1.691          0.929          0.064          0              0              0              56
  31  Potato          0.915          0.947          -1.808         0              0              0              55
  32  SaltShaker      -2.685         1.532          1.337          0              0              0              58
  33  Lettuce         -0.601         0.994          0.423          0              0              0              45
  34  Cup             1.426          0.918          -1.096         0              225            0              59
  35  SoapBottle      1.469          0.912          -0.866         0              45             0              55
  36  Spatula         -2.257         0.789          0.070          0              270            0              63
  37  PaperTowelRoll  1.341          1.015          0.376          0              0              0              54
  38  ButterKnife     1.598          0.911          0.435          0              180            0              54
  39  PepperShaker    -2.605         1.532          1.337          0              0              0              58
  40  DishSponge      -2.564         1.537          -0.092         0              0              0              68
  41  Pot             1.412          0.929          -0.335         0              0              0              46
  42  Spoon           -2.455         0.912          0.031          0              0              0              73
  43  Tomato          -2.485         1.342          -1.074         0              90             0              77
  44  Mug             0.464          0.955          -1.593         0              0              0              55
  45  CounterTop      -0.360         0.946          1.093          0              0              0
  46  StoveBurner     1.412          0.923          -0.335         0              0              0
  47  StoveKnob       1.878          1.093          0.018          287.989        90             0
  48  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  49  Cabinet         -2.446         1.948          2.924          0              0              0
  50  Drawer          -2.276         0.792          0.902          0              0              0
  51  Cabinet         -2.145         0.402          1.578          0              0              0
  52  Cabinet         0.149          2.008          -1.603         0              90             0
  53  StoveBurner     1.691          0.923          -0.335         0              0              0
  54  CounterTop      1.585          0.946          0.405          0              0              0
  55  CounterTop      0.474          0.946          -1.625         0              0              0
  56  StoveBurner     1.691          0.923          0.064          0              0              0
  57  Cabinet         -2.446         1.948          1.687          0              0              0
  58  Cabinet         -2.446         1.948          1.640          0              0              0
  59  Sink            1.381          0.810          -1.271         0              225            0
  60  StoveKnob       1.878          1.093          0.150          287.989        90             0
  61  Cabinet         -2.145         0.402          -0.236         0              0              0
  62  Drawer          -2.276         0.792          0.437          0              0              0
  63  Drawer          -2.276         0.792          -0.027         0              0              0
  64  Cabinet         1.572          2.008          0.474          0              0              0
  65  Cabinet         1.572          2.008          -0.775         0              0              0
  66  Cabinet         -2.445         2.148          -1.275         0              0              0
  67  Cabinet         -2.446         2.148          -0.284         0              0              0
  68  Cabinet         -2.446         1.948          0.355          0              0              0
  69  Cabinet         -2.446         1.948          0.405          0              0              0
  70  Cabinet         -2.145         0.402          0.644          0              0              0
  71  Cabinet         -2.145         0.402          0.695          0              0              0
  72  Cabinet         -2.285         1.968          -1.325         0              180            0
  73  CounterTop      -1.485         0.946          1.319          0              0              0
  74  StoveBurner     1.411          0.923          0.064          0              0              0
  75  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  76  Drawer          -2.276         0.792          1.368          0              0              0
  77  Fridge          -2.475         0.0            -0.782         0              90             0
  78  LightSwitch     -0.929         1.350          -1.950         0              0              0
  79  Toaster         -2.564         0.900          1.876          0              90             0
  80  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  81  Window          1.508          1.534          -1.496         90             135            0
  82  Window          1.973          1.521          1.121          90             90             0
  83  SinkBasin       1.149          0.753          -1.380         0              225            0
  84  GarbageCan      1.646          -0.000         0.679          0              0              0
  85  Microwave       -2.580         0.900          2.440          0              90             0
  86  Stool           0.439          0.010          0.747          0              0              0
  87  Stool           -2.303         0.010          1.839          0              0              0
  88  Faucet          1.235          1.138          -1.473         0              225            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn around and go to the coffee maker | STEP 2: Grab the mug out of the coffee maker | STEP 3: Turn around and go to the microwave | STEP 4: Heat the mug in the microwave and then take it out | STEP 5: Look up at the cabinets above the microwave | STEP 6: Put the mug in the cabinet on the right | END