Task: To heat the mug and place it 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           0.25           1.124          0.25           0              90             0
   1  Pan             -1.920         1.322          0.445          0              180            0              49
   2  Potato          -1.165         1.362          -3.314         0              0              0              49
   3  WineBottle      -1.363         1.323          -0.332         0              0              0              49
   4  Kettle          -0.125         1.332          -2.973         0              0              0              57
   5  Kettle          -1.886         0.344          1.213          0              0              0              50
   6  Fork            -1.954         1.051          -0.587         0              90             0              67
   7  Spatula         -1.730         0.437          -0.561         0              90             0              53
   8  Pot             0.900          0.351          -1.854         0              180            0              48
   9  Pot             -0.239         1.331          -3.301         0              180            0              44
  10  Egg             -2.049         1.363          2.069          0              0              0              49
  11  Egg             0.818          1.565          1.786          0              270            0              62
  12  Cup             0.900          0.342          -2.164         0              180            0              48
  13  Cup             -1.952         0.341          0.110          0              0              0              47
  14  Cup             0.861          1.205          1.238          0              0              0              74
  15  Knife           -1.530         1.352          -3.241         0              0              0              49
  16  Knife           -1.737         1.358          -1.186         0              180            0              56
  17  SoapBottle      -1.681         0.280          2.234          0              0              0              64
  18  Mug             -1.614         0.338          1.627          0              0              0              50
  19  Apple           1.193          1.256          1.238          0              0              0              74
  20  Apple           -1.698         1.099          -0.496         0              0              0              67
  21  Bread           -1.363         1.397          -1.503         0              0              0              49
  22  Pot             -0.749         1.332          -2.973         0              0              0              52
  23  Knife           -1.790         1.352          -3.241         0              0              0              49
  24  Bowl            -2.093         1.332          -1.049         0              0              0              56
  25  Potato          1.285          1.362          -3.164         0              90             0              49
  26  SoapBottle      -1.586         0.280          2.110          0              270            0              64
  27  Fork            0.981          0.953          1.019          0              0              0              72
  28  Cup             -1.952         0.341          0.713          0              0              0              47
  29  Kettle          -1.691         1.310          -3.156         0              150.000        0              49
  30  Egg             0.920          1.565          1.848          0              270            0              62
  31  Pan             -1.920         1.322          -2.201         0              0              0              49
  32  SaltShaker      -1.817         0.338          0.211          0              0              0              47
  33  WineBottle      -1.682         0.344          1.110          0              0              0              50
  34  Lettuce         0.349          1.399          -2.789         0              0              0              49
  35  Spatula         -1.518         0.437          -1.348         0              90             0              55
  36  PaperTowelRoll  0.634          1.427          -2.900         0              0              0              49
  37  Tomato          -1.762         1.084          -0.633         0              0              0              67
  38  Plate           -1.789         0.344          -2.162         0              0              0              45
  39  PepperShaker    -1.451         1.318          -3.092         0              0              0              49
  40  DishSponge      -1.749         0.343          0.110          0              0              0              47
  41  Spoon           -1.920         1.324          1.419          0              0              0              49
  42  Apple           -1.165         1.371          -3.203         0              0              0              49
  43  Mug             0.965          1.371          -1.534         0              270            0              70
  44  StoveBurner     -0.239         1.325          -3.301         0              180            0
  45  Cabinet         -1.461         0.775          -2.002         0              0              0
  46  StoveBurner     -0.630         1.325          -3.301         0              180            0
  47  Cabinet         -1.461         0.775          0.470          0              0              0
  48  Cabinet         0.578          0.776          -2.054         0              0              0
  49  CounterTop      -1.809         1.358          1.182          0              0              0
  50  Cabinet         -1.461         0.775          1.310          0              0              0
  51  Faucet          -2.063         1.362          -0.726         0              39.391         0
  52  StoveBurner     -0.749         1.325          -2.973         0              0              0
  53  Drawer          -1.610         0.681          -0.430         0              0              0
  54  Window          -2.566         1.799          -0.822         270            0              0
  55  Drawer          -1.610         0.681          -1.217         0              0              0
  56  Sink            -1.990         1.143          -0.975         0              0              0
  57  StoveBurner     -0.125         1.325          -2.973         0              0              0
  58  StoveKnob       -0.185         1.338          -2.741         0              270            180
  59  StoveKnob       -0.336         1.338          -2.741         0              270            180
  60  StoveKnob       -0.569         1.338          -2.741         0              270            180
  61  StoveKnob       -0.707         1.338          -2.741         0              270            180
  62  Fridge          1.013          0.227          1.917          0              270            0
  63  Microwave       0.994          1.310          -2.163         0              270            0
  64  GarbageCan      -1.633         0.212          2.192          0              270            0
  65  LightSwitch     1.386          1.565          -0.657         0              270            0
  66  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  67  SinkBasin       -1.835         1.039          -0.542         0              0              0
  68  ButterKnife     0.873          0.468          0.651          0              0              0
  69  Toaster         -1.885         1.310          -2.512         0              90             0
  70  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  71  Drawer          0.647          1.061          0.680          0              270            0
  72  Drawer          0.648          1.061          1.020          0              270            0
  73  Drawer          0.648          0.843          1.020          0              270            0
  74  SideTable       0.975          0.220          0.869          0              270            0
  75  Drawer          0.648          0.602          0.680          0              270            0
  76  Drawer          0.648          0.596          1.020          0              270            0
  77  Drawer          0.648          0.843          0.680          0              270            0
  78  Stool           0.606          0.222          -1.084         1.233          280.489        0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Walk to the counter to the left of the microwave.  | STEP 2: Pick up the green mug in front of the apple.  | STEP 3: Move to the front of the microwave on the right.  | STEP 4: Open the microwave door, place the mug inside of the microwave, close the door, heat the mug, open the door, take the mug out, close the door.  | STEP 5: Turn around and face the cabinet below the counter with the pan.  | STEP 6: Open the cabinet door, place the mug inside of the cabinet, close the door.  | END