Task: Put a warm mug 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           -1.0           0.901          2.0            0              0              0
   1  Potato          -2.831         0.325          4.649          0              90             0              Floor|-00.05|
   2  Potato          -1.266         0.822          0.281          0              0              0              69
   3  Spoon           -2.377         0.663          0.300          0              0              0              59
   4  Spoon           -2.037         0.929          0.518          0              0              0              51
   5  Cup             -2.888         1.186          4.352          0              90             0              68
   6  Cup             -2.722         0.632          4.575          0              90             0              68
   7  Plate           -1.691         1.777          0.160          0              0              0              46
   8  SoapBottle      -2.480         0.900          2.706          0              0              0              72
   9  SoapBottle      -0.572         0.900          2.530          0              0              0              74
  10  Bowl            -2.136         1.770          0.205          0              0              0              47
  11  SaltShaker      -2.892         0.896          2.045          0              0              0              72
  12  SaltShaker      -2.583         0.896          2.573          0              0              0              72
  13  PepperShaker    -2.892         0.896          2.573          0              0              0              72
  14  PepperShaker    -0.487         0.658          0.409          0              0              0              40
  15  Lettuce         -0.657         0.980          3.535          0              0              0              74
  16  Lettuce         -2.583         0.980          2.309          0              0              0              72
  17  Apple           -2.805         0.688          4.204          0              90             0              68
  18  Apple           -2.892         0.956          2.309          0              0              0              72
  19  Egg             -0.835         0.829          0.281          0              0              0              69
  20  Plate           -0.447         0.890          2.927          0              0              0              74
  21  Fork            -2.628         0.936          3.395          0              0              0              58
  22  Bread           -0.314         0.957          2.530          0              0              0              74
  23  Apple           -1.007         0.852          0.337          0              0              0              69
  24  Lettuce         -0.657         0.980          3.133          0              0              0              74
  25  Spatula         -2.377         0.915          2.441          0              90             0              72
  26  Knife           -1.716         0.688          0.409          0              90             0              54
  27  Potato          -2.628         0.961          3.673          0              0              0              58
  28  Tomato          -2.847         1.250          4.649          0              90             0              68
  29  Cup             -2.789         0.900          2.706          0              0              0              72
  30  SaltShaker      -2.480         0.896          2.441          0              0              0              72
  31  PepperShaker    -0.326         0.658          0.245          0              0              0              40
  32  ButterKnife     -0.380         0.662          0.355          0              90             0              40
  33  SoapBottle      -2.866         0.053          0.351          0              26.101         0              65
  34  Pan             -2.686         0.900          2.045          0              270            0              72
  35  DishSponge      -2.995         0.900          2.177          0              0              0              72
  36  Pot             -0.535         0.928          4.274          0              0              0              55
  37  Spoon           -0.218         0.663          0.409          0              0              0              40
  38  Mug             -1.094         0.790          0.447          0              0              0              69
  39  Bowl            -2.356         1.770          0.251          0              0              0              47
  40  Drawer          -0.325         0.696          0.413          0              0              0
  41  Cabinet         -0.595         0.490          0.648          0              0              0
  42  Cabinet         -0.555         0.490          0.646          0              0              0
  43  Cabinet         -1.591         0.490          0.646          0              0              0
  44  Cabinet         -1.554         0.490          0.646          0              0              0
  45  Cabinet         -2.550         0.490          0.646          0              0              0
  46  Cabinet         -1.514         2.046          0.392          0              0              0
  47  Cabinet         -2.474         2.046          0.392          0              0              0
  48  Cabinet         -1.478         2.046          0.392          0              0              0
  49  Cabinet         -0.518         2.046          0.392          0              0              0
  50  Cabinet         -0.479         2.046          0.392          0              0              0
  51  CounterTop      -1.366         0.952          0.349          0              0              0
  52  Sink            -1.108         0.926          0.340          0              0              0
  53  StoveBurner     -0.254         0.922          4.672          0              0              0
  54  Drawer          -1.824         0.696          0.413          0              0              0
  55  StoveBurner     -0.535         0.922          4.274          0              0              0
  56  StoveBurner     -0.254         0.922          4.274          0              0              0
  57  StoveBurner     -0.536         0.922          4.672          0              0              0
  58  CounterTop      -2.780         0.971          3.487          0              0              0
  59  Drawer          -2.323         0.696          0.413          0              0              0
  60  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  61  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  64  Toaster         -0.286         0.861          3.520          0              270            0
  65  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  66  LightSwitch     -0.064         1.447          1.996          0              270            0
  67  Window          -3.075         1.593          1.361          90             90             0
  68  Fridge          -2.802         0.0            4.427          0              0              0
  69  SinkBasin       -1.106         0.785          0.337          0              0              0
  70  Microwave       -0.358         0.917          0.224          0              0              0
  71  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  72  DiningTable     -2.733         -0.003         2.607          0              270            0
  73  Faucet          -1.077         0.920          0.028          270            270            0
  74  DiningTable     -0.488         -0.003         3.182          0              270            0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: Turn around and go to the sink. | STEP 2: Pick up the mug from the sink. | STEP 3: Go to your left, to the counter with the microwave on it. | STEP 4: Open the microwave, put the mug inside, heat it up, and take it out. | STEP 5: Look up to the cabinet above the counter. | STEP 6: Open the cabinet and put the mug inside, then close it. | END