Task: Warm a mug and put it into cupboard

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          2.5            0              180            0
   1  Pan             -2.59          0.9            -1.147         0              0              0              72
   2  Potato          -0.598         0.933          -1.119         0              47.530         0              72
   3  CreditCard      -0.009         1.108          1.898          0              315            0              65
   4  DishSponge      0.307          0.747          -1.138         0              0              0              73
   5  Pot             0.894          1.112          1.133          0              315            0              65
   6  Spoon           0.359          0.748          -1.052         0              0              0              73
   7  Fork            -2.542         0.747          0.226          0              0              0              70
   8  Fork            -2.026         0.747          -0.966         0              0              0              67
   9  Spatula         -2.438         0.926          -0.062         0              90             0              64
  10  Cup             -1.418         0.850          -1.084         0              0              0              82
  11  Cup             -2.920         0.377          0.609          0              90             0              84
  12  Egg             -2.920         0.854          0.932          0              90             0              84
  13  SoapBottle      -2.849         1.666          -1.001         0              0              0              56
  14  SoapBottle      -2.521         0.912          0.106          0              0              0              64
  15  Tomato          -2.800         1.722          1.013          0              90             0              84
  16  Tomato          0.997          0.960          -1.032         0              0              0              72
  17  Bowl            0.920          0.910          -1.282         0              0              0              72
  18  PepperShaker    -1.742         0.113          -1.105         0              0              0              49
  19  SaltShaker      -2.810         1.791          -0.767         0              0              0              43
  20  SaltShaker      -2.151         1.658          -1.435         0              0              0              47
  21  Apple           0.294          1.057          -1.281         0              0              0              85
  22  Apple           -2.521         0.963          0.359          0              0              0              64
  23  Fork            -1.591         0.852          -1.139         0              270            0              82
  24  Kettle          -2.620         0.922          -0.724         0              0              0              63
  25  CreditCard      -2.853         0.908          -0.147         0              0              0              72
  26  Bread           -0.401         0.948          -1.291         0              0              0              72
  27  Plate           -1.458         0.843          -1.235         0              0              0              82
  28  SoapBottle      -2.692         0.912          -1.449         0              0              0              72
  29  Spatula         -1.933         0.926          -1.199         0              0              0              72
  30  Lettuce         -2.660         0.874          0.983          31.046         0              0              84
  31  SaltShaker      -2.936         0.907          -0.147         0              0              0              64
  32  Tomato          1.163          1.161          0.710          0              315            0              65
  33  PepperShaker    0.387          1.658          -1.473         0              0              0              51
  34  ButterKnife     -2.222         0.9            -0.997         0              323.977        0              72
  35  Pot             -2.622         0.928          -0.396         0              0              0              66
  36  DishSponge      -2.757         0.035          1.501          0              0              0              83
  37  Egg             -2.936         0.946          0.021          0              0              0              64
  38  Spoon           0.067          1.112          1.345          0              315            0              65
  39  Knife           0.060          1.106          1.587          270            209.997        0              65
  40  Cup             0.241          1.007          -1.381         0              0              0              85
  41  Mug             0.372          1.654          -1.353         0              0              0              51
  42  Bowl            -2.740         1.473          1.013          0              90             0              84
  43  Cabinet         -2.647         2.075          -0.875         0              0              0
  44  Cabinet         -2.647         2.075          -0.234         0              0              0
  45  Cabinet         -0.824         0.469          -0.907         0              0              0
  46  Cabinet         -1.764         2.009          -1.197         0              0              0
  47  Cabinet         -1.834         2.009          -1.197         0              0              0
  48  Cabinet         -1.850         0.389          -0.897         0              0              0
  49  Cabinet         -1.801         0.469          -0.907         0              0              0
  50  Cabinet         1.115          2.009          -1.197         0              0              0
  51  Cabinet         0.235          2.009          -1.197         0              0              0
  52  Cabinet         1.125          0.470          -0.897         0              0              0
  53  Cabinet         -2.387         0.389          0.375          0              0              0
  54  Cabinet         0.484          0.389          -0.897         0              0              0
  55  Cabinet         -2.625         2.009          -1.197         0              0              0
  56  Cabinet         -2.647         2.009          -0.945         0              0              0
  57  Cabinet         -2.647         2.200          1.664          0              0              0
  58  Cabinet         -2.647         2.009          0.364          0              0              0
  59  Cabinet         0.164          2.009          -1.197         0              0              0
  60  Cabinet         -0.765         2.009          -1.197         0              0              0
  61  Cabinet         -0.834         2.009          -1.197         0              0              0
  62  Cabinet         -2.647         2.200          0.434          0              0              0
  63  StoveBurner     -2.622         0.886          -0.711         0              0              0
  64  CounterTop      -2.699         0.946          0.106          0              0              0
  65  CounterTop      0.908          1.147          0.788          0              315            0
  66  StoveBurner     -2.622         0.886          -0.396         0              0              0
  67  Drawer          -2.026         0.779          -1.082         0              0              0
  68  Sink            -1.328         0.916          -1.225         0              0              0
  69  StoveBurner     -2.822         0.886          -0.711         0              0              0
  70  Drawer          -2.572         0.779          0.099          0              0              0
  71  StoveBurner     -2.822         0.886          -0.396         0              0              0
  72  CounterTop      0.071          0.946          -1.199         0              0              0
  73  Drawer          0.254          0.779          -1.082         0              0              0
  74  LightSwitch     -1.167         1.307          3.0            0              180            0
  75  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  76  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  77  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  78  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  79  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  80  Window          0.321          1.449          3.088          90             0              0
  81  Toaster         -2.823         0.899          0.246          0              90             0
  82  SinkBasin       -1.344         0.838          -1.25          0              0              0
  83  GarbageCan      -2.757         1.886          1.466          0              0              0
  84  Fridge          -2.855         0.0            0.851          0              0              0
  85  Microwave       0.283          0.900          -1.331         0              0              0
  86  Stool           1.541          0.010          1.328          0              45             0
  87  Stool           0.983          0.010          1.793          0              47.459         0
  88  Faucet          -1.392         1.136          -1.399         0              270            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn right, go forward, turn left, go forward, turn left, go forward, turn right and go to the microwave | STEP 2: Open the left cupboard above the microwave, pick up the mug, close the cupboard | STEP 3: turn down to the microwave | STEP 4: Put the mug into the microwave, start the microwave, wait, pick up the mug | STEP 5: Turn up to the cupboard | STEP 6: Open the left cupboard, put the mug in it, close the cupboard | END