Task: Move a heated mug to 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           1.0            0.900          2.5            0              270            0
   1  Potato          -0.598         0.933          -1.119         0              47.530         0              74
   2  CreditCard      -2.604         0.908          -0.062         0              0              0              74
   3  CreditCard      0.997          0.908          -1.282         0              0              0              74
   4  Kettle          0.721          1.112          1.306          0              315            0              67
   5  Pot             -2.622         0.928          -0.396         0              0              0              68
   6  Spoon           0.359          0.748          -1.052         0              0              0              75
   7  Fork            -0.069         1.112          1.790          0              315            0              67
   8  Spatula         -1.505         0.866          -1.194         0              270            0              84
   9  Spatula         -1.418         0.866          -1.305         0              90             0              84
  10  Cup             -1.246         0.848          -1.360         0              0              0              84
  11  Cup             -2.236         0.909          -1.199         0              0              0              74
  12  Plate           -0.049         1.664          -1.397         0              0              0              61
  13  Plate           -2.015         1.664          -1.360         0              0              0              49
  14  Knife           -0.239         0.934          -1.365         0              0              0              74
  15  Knife           0.997          0.934          -1.365         0              0              0              74
  16  PepperShaker    -2.445         1.658          -1.397         0              0              0              57
  17  PepperShaker    -2.687         0.907          -0.147         0              0              0              66
  18  SaltShaker      -1.387         1.658          -1.473         0              0              0              48
  19  SaltShaker      -0.662         0.907          -1.449         0              0              0              74
  20  Bread           -2.740         0.432          1.013          0              90             0              86
  21  Apple           -1.073         0.903          -1.139         0              0              0              84
  22  Apple           -2.815         0.087          1.536          0              0              0              85
  23  Pan             -2.59          0.9            -1.147         0              0              0              74
  24  Apple           -2.699         0.087          1.501          0              0              0              85
  25  Fork            0.164          1.112          1.857          0              135            0              67
  26  Kettle          -1.655         1.663          -1.397         0              0              0              63
  27  CreditCard      -2.936         0.908          0.021          0              0              0              74
  28  Bread           0.765          0.965          -1.032         0              0              0              74
  29  Plate           0.663          1.113          0.902          0              315            0              67
  30  SoapBottle      -0.748         0.899          -1.291         0              315            0              74
  31  Spatula         -0.450         0.926          -1.115         0              0              0              74
  32  Lettuce         -2.660         0.874          0.983          31.046         0              0              86
  33  SaltShaker      -2.025         0.112          -1.131         0              0              0              50
  34  Tomato          0.203          1.152          1.056          0              0              0              67
  35  PepperShaker    0.032          1.108          1.940          0              315            0              67
  36  ButterKnife     -2.222         0.9            -0.997         0              323.977        0              74
  37  Pot             -2.800         1.475          0.852          0              90             0              86
  38  DishSponge      -1.221         0.841          -1.126         0              41.164         0              84
  39  Egg             0.136          1.136          1.274          0              0              0              67
  40  Spoon           0.452          1.112          1.729          0              315            0              67
  41  Knife           -1.591         0.872          -1.194         0              270            0              84
  42  Cup             -2.936         0.909          -0.147         0              0              0              66
  43  Mug             0.372          1.654          -1.353         0              0              0              53
  44  Bowl            -2.046         0.9            -1.163         0              0              0              74
  45  Cabinet         -2.647         2.075          -0.875         0              0              0
  46  Cabinet         -2.647         2.075          -0.234         0              0              0
  47  Cabinet         -0.824         0.469          -0.907         0              0              0
  48  Cabinet         -1.764         2.009          -1.197         0              0              0
  49  Cabinet         -1.834         2.009          -1.197         0              0              0
  50  Cabinet         -1.850         0.389          -0.897         0              0              0
  51  Cabinet         -1.801         0.469          -0.907         0              0              0
  52  Cabinet         1.115          2.009          -1.197         0              0              0
  53  Cabinet         0.235          2.009          -1.197         0              0              0
  54  Cabinet         1.125          0.470          -0.897         0              0              0
  55  Cabinet         -2.387         0.389          0.375          0              0              0
  56  Cabinet         0.484          0.389          -0.897         0              0              0
  57  Cabinet         -2.625         2.009          -1.197         0              0              0
  58  Cabinet         -2.647         2.009          -0.945         0              0              0
  59  Cabinet         -2.647         2.200          1.664          0              0              0
  60  Cabinet         -2.647         2.009          0.364          0              0              0
  61  Cabinet         0.164          2.009          -1.197         0              0              0
  62  Cabinet         -0.765         2.009          -1.197         0              0              0
  63  Cabinet         -0.834         2.009          -1.197         0              0              0
  64  Cabinet         -2.647         2.200          0.434          0              0              0
  65  StoveBurner     -2.622         0.886          -0.711         0              0              0
  66  CounterTop      -2.699         0.946          0.106          0              0              0
  67  CounterTop      0.908          1.147          0.788          0              315            0
  68  StoveBurner     -2.622         0.886          -0.396         0              0              0
  69  Drawer          -2.026         0.779          -1.082         0              0              0
  70  Sink            -1.328         0.916          -1.225         0              0              0
  71  StoveBurner     -2.822         0.886          -0.711         0              0              0
  72  Drawer          -2.572         0.779          0.099          0              0              0
  73  StoveBurner     -2.822         0.886          -0.396         0              0              0
  74  CounterTop      0.071          0.946          -1.199         0              0              0
  75  Drawer          0.254          0.779          -1.082         0              0              0
  76  LightSwitch     -1.167         1.307          3.0            0              180            0
  77  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  78  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  79  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  80  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  81  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  82  Window          0.321          1.449          3.088          90             0              0
  83  Toaster         -2.823         0.899          0.246          0              90             0
  84  SinkBasin       -1.344         0.838          -1.25          0              0              0
  85  GarbageCan      -2.757         1.886          1.466          0              0              0
  86  Fridge          -2.855         0.0            0.851          0              0              0
  87  Microwave       0.283          0.900          -1.331         0              0              0
  88  Stool           1.541          0.010          1.328          0              45             0
  89  Stool           0.983          0.010          1.793          0              47.459         0
  90  Faucet          -1.392         1.136          -1.399         0              270            0
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: Move back then left to the cupboard on the left directly above the red microwave | STEP 2: Open the cupboard and remove the white mug inside of the cupboard, close the cupboard | STEP 3: Carry the white mug to face the red microwave | STEP 4: Open the microwave, place the mug inside, turn it on then remove the mug and shut the door | STEP 5: Move to face the upper cupboard on the left where the mug was | STEP 6: Place the mug back in the cupboard and close the cupboard | END