Task: place a hot mug inside the cupboard

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          2.5            0              0              0
   1  DishSponge      -2.257         0.772          -0.025         0              0              0              63
   2  DishSponge      1.477          0.921          -1.255         0              225            0              59
   3  ButterKnife     -0.081         0.910          1.764          0              0              0              45
   4  Kettle          1.412          0.929          -0.335         0              0              0              46
   5  Fork            -0.081         0.911          0.423          0              0              0              45
   6  Spoon           1.684          0.912          0.406          0              0              0              54
   7  Spoon           1.846          0.912          -0.897         0              0              0              55
   8  Spatula         -0.211         0.925          0.870          0              0              0              45
   9  Egg             1.598          0.941          0.465          0              0              0              54
  10  Egg             -2.538         1.028          2.380          0              90             0              85
  11  Cup             -2.578         1.298          -0.885         0              90             0              77
  12  Cup             -2.638         1.535          2.129          0              0              0              57
  13  Knife           -2.287         0.799          1.322          0              90             0              76
  14  Tomato          -0.601         0.953          0.423          0              0              0              45
  15  SoapBottle      1.353          0.924          -1.239         0              225            0              59
  16  SaltShaker      -2.685         1.532          1.483          0              0              0              58
  17  Lettuce         -0.081         0.994          1.317          0              0              0              45
  18  Bread           0.048          0.996          0.423          0              0              0              45
  19  Mug             -2.485         1.295          -0.790         0              90             0              77
  20  Apple           -2.439         1.362          -0.507         0              90             0              77
  21  Apple           -2.439         1.362          -0.979         0              90             0              77
  22  Pan             0.0            0.9            0.948          0              29.999         0              45
  23  Knife           -0.341         0.936          0.647          0              0              0              45
  24  Apple           -2.466         0.656          -0.514         0              90             0              77
  25  Bowl            -2.609         1.930          -0.976         0              0              0              66
  26  Fork            -2.455         0.911          0.931          0              0              0              73
  27  Bread           -2.289         0.996          0.931          0              0              0              73
  28  Plate           1.735          1.666          -0.335         0              0              0              65
  29  Egg             1.520          0.215          0.623          0              0              0              84
  30  Kettle          0.854          0.900          -1.790         0              0              0              55
  31  Potato          -2.206         0.947          1.830          0              0              0              73
  32  SaltShaker      0.445          1.658          -1.766         0              90             0              52
  33  Lettuce         0.048          0.994          0.647          0              0              0              45
  34  Cup             1.426          0.916          -1.096         0              225            0              59
  35  SoapBottle      1.516          0.912          -0.715         0              45             0              55
  36  Spatula         -0.211         0.925          1.764          0              0              0              45
  37  PaperTowelRoll  -2.704         1.015          0.331          0              0              0              73
  38  ButterKnife     -2.621         0.910          0.031          0              0              0              73
  39  PepperShaker    -2.564         1.532          2.840          0              0              0              49
  40  DishSponge      1.127          0.770          -1.394         0              225            0              83
  41  Pot             1.691          0.929          0.064          0              0              0              56
  42  Spoon           1.383          0.919          -0.999         0              225            0              59
  43  Tomato          -2.485         1.131          -0.885         0              90             0              77
  44  Mug             -2.677         1.533          0.702          0              0              0              69
  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 left and locate the overhead cupboard | STEP 2: take out the mug  | STEP 3: turn right and locate the oven | STEP 4: place the mug to heat and then take it out | STEP 5: head for the cupboard over the oven | STEP 6: place the mug inside the cupboard | END