Task: Put 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           0.0            0.869          -1.75          0              90             0
   1  Potato          0.785          1.191          -1.725         0              270            0              67
   2  DishSponge      -2.137         0.701          -1.307         0              0              0              83
   3  DishSponge      0.671          0.760          0.002          0              0              0              46
   4  ButterKnife     -1.886         0.701          -1.199         0              0              0              83
   5  Spatula         0.866          0.775          -0.252         0              90             0              46
   6  Spatula         0.950          0.898          -0.039         0              0              0              47
   7  Spoon           0.720          0.761          -0.061         0              0              0              46
   8  Spoon           0.781          0.666          0.630          0              0              0              52
   9  Fork            -1.886         0.702          -0.875         0              0              0              83
  10  Fork            0.841          0.665          0.508          0              0              0              52
  11  Pot             -2.097         0.930          1.049          0              0              0              54
  12  Egg             0.630          0.809          -0.845         0              270            0              70
  13  Cup             0.669          0.663          -2.190         0              270            0              67
  14  Cup             0.661          0.663          0.630          0              0              0              52
  15  Plate           0.149          0.904          0.929          0              270            0              73
  16  Tomato          0.785          1.423          -1.880         0              270            0              67
  17  Tomato          0.877          0.931          -0.245         0              0              0              47
  18  SoapBottle      -1.334         0.051          -3.611         0              270            0              62
  19  SoapBottle      -1.578         0.695          -3.361         0              0              0              74
  20  PepperShaker    0.787          0.012          -0.315         0              0              0              57
  21  PepperShaker    0.842          0.012          -0.833         0              0              0              50
  22  Lettuce         0.149          0.987          1.187          0              270            0              73
  23  Apple           0.746          0.718          -2.035         0              270            0              67
  24  Apple           0.715          0.826          -0.790         0              270            0              70
  25  Pot             -0.051         0.899          1.015          0              90             0              73
  26  Plate           -1.719         0.705          -1.199         0              0              0              83
  27  Fork            -1.578         0.700          -3.529         0              270            0              74
  28  SoapBottle      -1.056         0.899          1.101          0              270            0              73
  29  Apple           0.901          0.718          0.569          0              0              0              52
  30  Pan             -1.552         0.930          0.785          0              0              0              51
  31  Egg             0.799          0.809          -0.845         0              270            0              70
  32  Spatula         0.721          0.679          0.326          0              180            0              52
  33  Potato          -1.949         0.832          -3.705         0              0              0              69
  34  Cup             0.757          0.771          -0.680         0              270            0              70
  35  SaltShaker      0.676          0.012          0.076          0              0              0              57
  36  PepperShaker    0.621          0.012          -0.898         0              0              0              50
  37  ButterKnife     0.655          0.883          -0.039         0              0              0              47
  38  DishSponge      0.841          0.772          -0.570         0              270            0              70
  39  Bread           -0.873         0.931          0.978          0              24.231         0              73
  40  Lettuce         0.661          0.751          0.448          0              0              0              52
  41  Tomato          -1.187         0.100          -3.611         0              270            0              62
  42  Spoon           0.715          0.773          -0.570         0              270            0              70
  43  Knife           1.070          0.906          -0.687         0              90             0              47
  44  Mug             0.698          0.941          -1.360         0              270            0              60
  45  Bowl            0.676          0.014          -0.119         0              0              0              57
  46  Drawer          0.706          0.766          -0.125         0              0              0
  47  CounterTop      0.792          0.919          -0.108         0              0              0
  48  Mirror          1.093          1.602          -0.643         0              0              0
  49  StoveBurner     -2.096         0.890          0.785          0              0              0
  50  Cabinet         0.507          0.345          -0.426         0              0              0
  51  StoveBurner     -1.552         0.890          0.785          0              0              0
  52  SideTable       0.770          -0.030         0.443          0              0              0
  53  Sink            0.753          0.882          -0.680         0              0              0
  54  StoveBurner     -2.096         0.890          1.049          0              0              0
  55  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  56  StoveBurner     -1.554         0.890          1.049          0              0              0
  57  Cabinet         0.507          0.345          0.156          0              0              0
  58  Cabinet         0.717          1.822          -0.398         0              0              0
  59  Cabinet         0.717          1.822          0.669          0              0              0
  60  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  61  Toaster         -0.522         0.886          1.081          0              180            0
  62  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  63  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  64  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  65  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  66  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  67  Fridge          0.680          -0.031         -1.957         0              0              0
  68  Window          -2.424         1.639          -2.453         90             270            0
  69  Microwave       -1.994         0.690          -3.651         0              0              0
  70  SinkBasin       0.757          0.762          -0.688         0              270            0
  71  LightSwitch     1.102          1.368          -3.737         0              270            0
  72  Shelf           -0.350         0.124          0.857          0              0              0
  73  DiningTable     -0.350         -0.025         0.857          0              0              0
  74  DiningTable     -1.909         -0.032         -3.507         0              0              0
  75  Blinds          -2.343         2.151          -2.437         0              270            0
  76  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  77  AluminumFoil    0.751          0.225          0.287          0              0              0
  78  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  79  Shelf           0.771          0.226          0.445          0              0              0
  80  Shelf           0.771          0.456          0.446          0              0              0
  81  Faucet          1.025          0.873          -0.678         270            180            0
  82  Shelf           -0.350         0.497          0.857          0              0              0
  83  DiningTable     -1.929         -0.035         -1.398         0              90             0
  84  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Move to the left to face the coffee maker on the counter. | STEP 2: Pick the mug up from under the coffee maker. | STEP 3: Turn around and cross the room and go to the left to face the microwave. | STEP 4: Put the cup in the microwave and shut the door and then open the door and pick the cup up again. | STEP 5: Cross the room and face the cabinets below the sink. | STEP 6: Put the mug in the lower left cabinet. | END