Task: Putting a hot 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           -1.75          0.900          2.25           0              0              0
   1  Pan             -0.244         0.829          1.684          0              0              0              45
   2  DishSponge      -1.133         0.698          0.377          0              0              0              50
   3  ButterKnife     -2.658         0.823          0.789          0              0              0              46
   4  Fork            -1.876         0.824          0.528          0              0              0              46
   5  Spoon           -0.363         0.698          0.912          0              90             0              48
   6  Spoon           -0.916         0.712          0.378          0              90             0              49
   7  Egg             -1.542         0.847          0.539          0              0              0              46
   8  Egg             -2.726         1.167          2.221          0              90             0              64
   9  Cup             -2.782         1.144          2.485          0              90             0              64
  10  Tomato          -2.375         0.873          0.500          0              0              0              46
  11  SoapBottle      -2.714         1.432          0.168          0              45             0              52
  12  Bowl            -2.781         1.442          2.133          0              90             0              64
  13  SaltShaker      -2.375         0.818          0.278          0              0              0              46
  14  SaltShaker      -2.957         0.818          0.055          0              0              0              46
  15  PepperShaker    -2.581         0.818          0.953          0              0              0              46
  16  PepperShaker    -0.477         0.818          0.658          0              0              0              46
  17  Mug             -2.840         0.818          0.129          0              0              0              46
  18  Apple           -2.837         1.216          2.221          0              90             0              64
  19  Fork            -2.496         0.692          1.547          0              270            0              51
  20  Ladle           -2.540         1.893          2.420          0              0              0              56
  21  Pan             -0.244         0.829          2.075          0              180            0              41
  22  SoapBottle      -0.295         0.054          2.539          0              0              0              66
  23  Pot             -0.531         0.822          2.096          0              0              0              43
  24  Tomato          -0.169         0.873          0.992          0              0              0              46
  25  Potato          -0.329         0.095          2.640          0              0              0              66
  26  SaltShaker      -2.687         0.116          1.392          0              0              0              57
  27  Plate           -2.781         1.148          2.045          0              90             0              64
  28  Spatula         -0.341         0.696          1.194          0              45             0              42
  29  Knife           -1.709         0.849          0.528          0              0              0              46
  30  Egg             -0.429         0.080          2.606          0              0              0              66
  31  Cup             -2.837         0.825          1.957          0              90             0              64
  32  ButterKnife     -2.493         0.812          0.476          0              50.734         0              46
  33  Lettuce         -1.836         0.741          0.238          0              55.910         0              73
  34  PepperShaker    -2.957         0.818          0.426          0              0              0              46
  35  DishSponge      -1.151         0.823          0.055          0              0              0              46
  36  Bread           -0.979         0.855          0.249          0              29.999         0              46
  37  Spoon           -0.817         0.824          0.278          0              90             0              46
  38  Mug             -2.905         1.429          1.480          0              90             0              54
  39  Bowl            -2.782         0.821          2.221          0              90             0              64
  40  Cabinet         -2.377         2.015          1.720          0              0              0
  41  StoveBurner     -0.244         0.820          2.075          0              180            0
  42  Drawer          -0.402         0.703          1.252          0              0              0
  43  StoveBurner     -0.518         0.820          2.075          0              180            0
  44  Sink            -1.838         0.726          0.343          0              180            0
  45  StoveBurner     -0.244         0.820          1.684          0              0              0
  46  CounterTop      -1.557         0.859          0.277          0              0              0
  47  StoveBurner     -0.518         0.820          1.684          0              0              0
  48  Drawer          -0.404         0.704          0.912          0              0              0
  49  Drawer          -0.861         0.709          0.420          0              0              0
  50  Drawer          -1.133         0.706          0.418          0              0              0
  51  Drawer          -2.589         0.703          1.511          0              0              0
  52  Cabinet         -2.772         1.803          0.508          0              0              0
  53  Cabinet         -2.460         1.803          0.231          0              0              0
  54  Cabinet         -2.781         1.798          0.825          0              0              0
  55  Cabinet         -2.781         1.798          0.815          0              0              0
  56  Cabinet         -2.377         2.009          2.581          0              0              0
  57  Cabinet         -2.442         0.385          1.672          0              0              0
  58  Cabinet         -2.238         0.385          0.564          0              0              0
  59  Cabinet         -1.286         0.385          0.564          0              0              0
  60  Cabinet         -1.262         0.385          0.565          0              0              0
  61  Cabinet         -0.734         0.385          0.565          0              0              0
  62  Cabinet         -0.549         0.385          0.751          0              0              0
  63  Cabinet         -0.549         0.385          1.412          0              0              0
  64  Fridge          -2.782         0.0            2.221          0              0              0
  65  Microwave       -2.794         0.812          1.348          0              90             0
  66  GarbageCan      -0.329         2.205          2.606          0              0              0
  67  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  68  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  69  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  70  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  71  Window          -1.720         1.342          -0.208         90             0              0
  72  Toaster         -0.171         0.812          0.735          0              270            0
  73  SinkBasin       -1.745         0.687          0.295          0              0              0
  74  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  75  LightSwitch     -0.615         1.378          3.0            0              180            0
  76  Faucet          -1.686         0.954          0.176          0              236.223        0
  77  Stool           -1.008         0.008          1.955          0              18.279         0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn around and look at the cabinet above the microwave | STEP 2: Grab the mug out of the cabinet | STEP 3: Move slightly to the left | STEP 4: Heat the mug in the microwave and then take it out | STEP 5: Look up at the cabinets | STEP 6: Put the mug in the cabinet | END