Task: To heat a mug and put 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           -1.5           0.869          -2.25          0              0              0
   1  Potato          1.025          0.916          -0.460         0              0              0              38
   2  Potato          0.877          0.916          -0.314         0              0              0              38
   3  ButterKnife     0.574          0.760          -0.188         0              90             0              37
   4  Fork            0.757          0.773          -0.625         0              0              0              61
   5  Pot             -2.097         0.930          1.049          0              0              0              45
   6  Tomato          0.708          1.423          -1.725         0              270            0              58
   7  SoapBottle      -0.252         0.899          0.758          0              270            0              64
   8  SoapBottle      0.901          0.664          0.448          0              0              0              43
   9  Bowl            0.949          1.462          0.411          0              0              0              50
  10  Bowl            0.149          0.899          1.015          0              270            0              64
  11  PepperShaker    0.601          0.661          0.630          0              0              0              43
  12  SaltShaker      0.787          0.012          -0.053         0              0              0              48
  13  SaltShaker      0.601          0.661          0.326          0              0              0              43
  14  Mug             0.708          0.660          -2.190         0              0              0              58
  15  Apple           -1.297         0.105          -3.574         0              270            0              53
  16  Pot             -1.552         0.930          0.785          0              0              0              42
  17  Plate           -2.023         0.692          -1.447         0              0              0              74
  18  Fork            0.799          0.773          -0.680         0              0              0              61
  19  SoapBottle      -1.970         0.701          -1.199         0              0              0              74
  20  Apple           0.841          0.826          -0.845         0              270            0              61
  21  Pan             0.740          -0.007         -0.596         0              0              0              41
  22  Egg             0.824          1.411          -2.190         0              270            0              58
  23  Spatula         -0.252         0.915          1.187          0              180            0              64
  24  Potato          0.803          0.916          0.098          0              0              0              38
  25  Cup             -0.252         0.899          1.015          0              270            0              64
  26  SaltShaker      0.961          0.660          0.265          0              0              0              43
  27  PepperShaker    0.901          0.660          0.630          0              0              0              43
  28  ButterKnife     0.781          0.665          0.569          0              0              0              43
  29  DishSponge      0.950          0.883          -0.176         0              0              0              38
  30  Bread           -0.873         0.931          0.978          0              24.231         0              64
  31  Lettuce         -1.084         0.973          0.955          41.452         1.687          2.953          64
  32  Tomato          0.715          0.820          -0.790         0              270            0              61
  33  Spoon           0.720          0.761          0.002          0              0              0              37
  34  Knife           0.866          0.782          -0.252         0              90             0              37
  35  Mug             0.903          1.458          -0.022         0              0              0              49
  36  Bowl            -2.038         0.691          -1.003         0              0              0              74
  37  Drawer          0.706          0.766          -0.125         0              0              0
  38  CounterTop      0.792          0.919          -0.108         0              0              0
  39  Mirror          1.093          1.602          -0.643         0              0              0
  40  StoveBurner     -2.096         0.890          0.785          0              0              0
  41  Cabinet         0.507          0.345          -0.426         0              0              0
  42  StoveBurner     -1.552         0.890          0.785          0              0              0
  43  SideTable       0.770          -0.030         0.443          0              0              0
  44  Sink            0.753          0.882          -0.680         0              0              0
  45  StoveBurner     -2.096         0.890          1.049          0              0              0
  46  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  47  StoveBurner     -1.554         0.890          1.049          0              0              0
  48  Cabinet         0.507          0.345          0.156          0              0              0
  49  Cabinet         0.717          1.822          -0.398         0              0              0
  50  Cabinet         0.717          1.822          0.669          0              0              0
  51  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  52  Toaster         -0.522         0.886          1.081          0              180            0
  53  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  54  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  55  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  56  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  57  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  58  Fridge          0.680          -0.031         -1.957         0              0              0
  59  Window          -2.424         1.639          -2.453         90             270            0
  60  Microwave       -1.994         0.690          -3.651         0              0              0
  61  SinkBasin       0.757          0.762          -0.688         0              270            0
  62  LightSwitch     1.102          1.368          -3.737         0              270            0
  63  Shelf           -0.350         0.124          0.857          0              0              0
  64  DiningTable     -0.350         -0.025         0.857          0              0              0
  65  DiningTable     -1.909         -0.032         -3.507         0              0              0
  66  Blinds          -2.343         2.151          -2.437         0              270            0
  67  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  68  AluminumFoil    0.751          0.225          0.287          0              0              0
  69  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  70  Shelf           0.771          0.226          0.445          0              0              0
  71  Shelf           0.771          0.456          0.446          0              0              0
  72  Faucet          1.025          0.873          -0.678         270            180            0
  73  Shelf           -0.350         0.497          0.857          0              0              0
  74  DiningTable     -1.929         -0.035         -1.398         0              90             0
  75  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Turn right and walk to the fridge.  | STEP 2: Open the door, pick up the mug from the top shelf, close the door.  | STEP 3: Turn around and walk to the microwave on the left.  | STEP 4: Open the microwave door, put the mug inside, heat the mug, open the door, take the mug out, close the door.  | STEP 5: Walk over to the counter to the left of the sink and look below at the cabinet.  | STEP 6: Open the cabinet door, put the mug inside of the cabinet, close the door.  | END