Task: put heated mug into 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           0.5            0.900          -1.25          0              270            0
   1  Potato          0.522          0.959          0.534          0              0              0              78
   2  ButterKnife     0.002          0.913          -1.737         0              0              0              61
   3  WineBottle      1.828          0.914          -1.212         0              0              0              61
   4  Spatula         -0.047         0.945          0.305          0              0              0              78
   5  Spoon           0.522          0.928          0.991          0              0              0              78
   6  Egg             -1.323         0.913          -0.702         0              90             0              69
   7  Cup             -1.116         0.126          -1.538         0              90             0              56
   8  Cup             -1.610         0.859          -0.910         0              90             0              69
   9  Plate           -0.047         0.934          0.762          0              0              0              78
  10  Plate           -1.495         1.187          -0.703         0              90             0              69
  11  Knife           -0.064         0.787          -2.026         0              0              0              73
  12  Knife           1.738          0.936          -1.563         0              0              0              61
  13  SoapBottle      1.828          0.912          -1.797         0              0              0              61
  14  Lettuce         1.850          0.994          -2.085         0              0              0              61
  15  Lettuce         -1.553         1.264          -0.495         0              90             0              69
  16  PepperShaker    -0.737         0.108          -1.873         0              0              0              54
  17  PepperShaker    1.557          0.909          -1.446         0              0              0              61
  18  Bread           0.294          0.972          0.534          0              0              0              78
  19  Apple           -1.495         1.254          -0.910         0              90             0              69
  20  Potato          -1.438         0.888          -1.013         0              90             0              69
  21  Bowl            -1.277         1.656          -1.604         0              90             0              44
  22  SoapBottle      1.871          1.656          -1.866         0              270            0              51
  23  Fork            1.618          0.914          -1.918         0              180            0              61
  24  Ladle           0.066          0.975          1.448          0              0              0              78
  25  Bread           0.399          0.964          0.111          0              0              1.601          78
  26  Lettuce         -1.429         0.925          -0.542         0              315            0              69
  27  WineBottle      1.947          1.658          -1.479         0              270            0              51
  28  Spatula         0.408          0.945          1.220          0              0              0              78
  29  Plate           1.631          0.123          -1.397         0              270            0              55
  30  SaltShaker      -1.028         0.122          -1.463         0              90             0              54
  31  Pot             1.567          0.948          -0.757         0              0              0              43
  32  Cup             0.294          0.930          0.991          0              0              0              78
  33  PepperShaker    1.362          0.877          2.510          0              0              0              82
  34  Pan             1.824          0.945          -0.346         0              0              0              42
  35  ButterKnife     0.522          0.926          1.448          0              90             0              78
  36  Tomato          1.872          0.138          0.121          0              0              0              62
  37  DishSponge      0.325          1.658          -2.162         0              0              0              50
  38  Egg             -0.064         0.818          -2.116         0              0              0              73
  39  Spoon           0.066          0.928          1.220          0              0              0              78
  40  Knife           -0.230         0.936          -1.713         0              0              0              61
  41  Mug             -0.047         0.925          0.076          0              0              0              78
  42  StoveBurner     1.845          0.940          -0.355         0              0              0
  43  StoveBurner     1.567          0.940          -0.757         0              0              0
  44  Cabinet         -1.149         2.019          -1.979         0              90             0
  45  Cabinet         -1.149         2.265          -0.834         0              90             0
  46  Cabinet         -0.459         2.265          -2.0           0              0              0
  47  Cabinet         -1.100         2.019          -2.0           0              0              0
  48  Cabinet         1.719          2.019          -2.0           0              0              0
  49  Cabinet         1.179          2.019          -2.0           0              0              0
  50  Cabinet         0.199          2.019          -2.0           0              0              0
  51  Cabinet         1.75           2.019          -1.399         0              270            0
  52  Cabinet         1.75           2.019          -1.029         0              270            0
  53  Cabinet         1.379          0.469          -1.689         0              0              0
  54  Cabinet         -0.819         0.469          -1.689         0              0              0
  55  Cabinet         1.389          0.469          -1.059         0              270            0
  56  Cabinet         -0.839         0.469          -1.665         0              90             0
  57  StoveBurner     1.567          0.940          -0.355         0              0              0
  58  StoveBurner     1.845          0.940          -0.757         0              0              0
  59  Sink            -0.109         0.893          -2.009         0              0              0
  60  Drawer          -0.819         0.75           -1.690         0              0              0
  61  CounterTop      0.232          0.949          -2.002         0              0              0
  62  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  63  Vase            0.251          0.546          0.475          0              270            0
  64  Toaster         0.780          0.900          -2.080         0              0              0
  65  LightSwitch     0.108          1.315          2.75           0              180            0
  66  Vase            0.400          0.925          0.218          0              180            0
  67  Microwave       -1.233         0.900          -1.680         0              90             0
  68  Vase            1.465          1.662          -2.200         0              0              0
  69  Fridge          -1.495         0.0            -0.703         0              0              0
  70  Window          2.114          1.495          1.072          90             270            0
  71  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  72  Vase            0.333          0.546          1.272          0              270            0
  73  SinkBasin       -0.148         0.753          -2.026         0              0              0
  74  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  75  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  76  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  77  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  78  DiningTable     0.170          0.005          0.678          0              270            0
  79  Shelf           0.170          0.155          0.678          0              270            0
  80  Shelf           1.605          0.172          2.480          0              0              0
  81  Shelf           1.605          0.552          2.480          0              0              0
  82  Shelf           1.604          0.880          2.479          0              0              0
  83  ShelvingUnit    1.605          0.006          2.480          0              0              0
  84  Faucet          -0.143         1.028          -2.223         0              270            0
  85  Stool           -0.553         0.000          0.871          1.233          280.376        0
  86  Shelf           0.170          0.528          0.678          0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: walk to face right side of kitchen table | STEP 2: pick up white mug from table | STEP 3: turn to face microwave | STEP 4: heat mug in microwave, remove mug from microwave | STEP 5: gaze upward to cabinet above microwave | STEP 6: put mug in cabinet | END