Task: Place a heated coffee 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           -2.0           0.901          4.5            0              0              0
   1  Pan             -0.572         0.900          2.731          0              180            0              75
   2  Potato          -2.888         1.212          4.278          0              90             0              69
   3  DishSponge      -2.377         0.661          0.300          0              0              0              60
   4  ButterKnife     -2.037         0.928          0.518          0              0              0              52
   5  ButterKnife     -2.583         0.900          1.913          0              0              0              73
   6  Spoon           -2.892         0.901          2.573          0              0              0              73
   7  Spoon           -1.824         0.663          0.464          0              0              0              55
   8  Fork            -2.785         0.936          3.209          0              0              0              59
   9  Pot             -0.535         0.928          4.274          0              0              0              56
  10  Egg             -2.925         0.332          4.575          0              90             0              69
  11  Plate           -1.303         1.777          0.160          0              0              0              49
  12  Knife           -2.628         0.961          3.395          0              0              0              59
  13  Knife           -1.094         0.821          0.337          0              0              0              70
  14  SoapBottle      -2.549         0.935          3.209          0              90             0              59
  15  Tomato          -2.884         0.117          0.402          0              26.101         0              66
  16  Bowl            -0.486         0.897          2.329          0              0              0              75
  17  SaltShaker      -1.352         0.924          0.650          0              0              0              52
  18  Apple           -2.628         0.991          3.766          0              0              0              59
  19  Apple           -2.644         0.355          4.204          0              90             0              Floor|-00.05|
  20  Egg             -0.952         0.961          0.650          0              0              0              52
  21  Plate           -2.892         0.904          2.309          0              0              0              73
  22  Fork            -2.480         0.901          2.573          0              0              0              73
  23  Bread           -2.864         0.940          1.983          0              0              0              73
  24  Apple           -2.644         0.355          4.649          0              90             0              Floor|-00.05|
  25  Lettuce         -2.738         0.378          4.427          0              90             0              69
  26  Spatula         -2.485         0.677          0.519          0              270            0              60
  27  Knife           -2.706         0.961          3.395          0              270            0              59
  28  Potato          -2.847         1.212          4.649          0              90             0              69
  29  Tomato          -0.400         0.964          2.530          0              0              0              75
  30  Cup             -0.657         0.900          3.535          0              0              0              75
  31  SaltShaker      -2.480         0.896          2.309          0              0              0              73
  32  PepperShaker    -2.943         0.931          3.302          0              0              0              59
  33  ButterKnife     -0.572         0.900          3.133          0              0              0              75
  34  SoapBottle      -2.686         0.900          2.573          0              0              0              73
  35  Pan             -0.250         0.926          4.651          0              0              0              54
  36  DishSponge      -1.094         0.795          0.226          0              0              0              70
  37  Pot             -0.400         0.900          3.334          0              0              0              75
  38  Spoon           -0.400         0.901          2.329          0              180            0              75
  39  Mug             -1.180         0.790          0.392          0              90             0              70
  40  Bowl            -0.304         1.770          0.297          0              90             0              51
  41  Drawer          -0.325         0.696          0.413          0              0              0
  42  Cabinet         -0.595         0.490          0.648          0              0              0
  43  Cabinet         -0.555         0.490          0.646          0              0              0
  44  Cabinet         -1.591         0.490          0.646          0              0              0
  45  Cabinet         -1.554         0.490          0.646          0              0              0
  46  Cabinet         -2.550         0.490          0.646          0              0              0
  47  Cabinet         -1.514         2.046          0.392          0              0              0
  48  Cabinet         -2.474         2.046          0.392          0              0              0
  49  Cabinet         -1.478         2.046          0.392          0              0              0
  50  Cabinet         -0.518         2.046          0.392          0              0              0
  51  Cabinet         -0.479         2.046          0.392          0              0              0
  52  CounterTop      -1.366         0.952          0.349          0              0              0
  53  Sink            -1.108         0.926          0.340          0              0              0
  54  StoveBurner     -0.254         0.922          4.672          0              0              0
  55  Drawer          -1.824         0.696          0.413          0              0              0
  56  StoveBurner     -0.535         0.922          4.274          0              0              0
  57  StoveBurner     -0.254         0.922          4.274          0              0              0
  58  StoveBurner     -0.536         0.922          4.672          0              0              0
  59  CounterTop      -2.780         0.971          3.487          0              0              0
  60  Drawer          -2.323         0.696          0.413          0              0              0
  61  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  65  Toaster         -0.286         0.861          3.520          0              270            0
  66  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  67  LightSwitch     -0.064         1.447          1.996          0              270            0
  68  Window          -3.075         1.593          1.361          90             90             0
  69  Fridge          -2.802         0.0            4.427          0              0              0
  70  SinkBasin       -1.106         0.785          0.337          0              0              0
  71  Microwave       -0.358         0.917          0.224          0              0              0
  72  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  73  DiningTable     -2.733         -0.003         2.607          0              270            0
  74  Faucet          -1.077         0.920          0.028          270            270            0
  75  DiningTable     -0.488         -0.003         3.182          0              270            0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Turn around and cross the room to the sink | STEP 2: Pick up the black coffee mug that is sitting in the sink | STEP 3: Take a step to the left and continue to stand facing the sink, and now the microwave too | STEP 4: Open the microwave and place the mug inside the microwave then close the door and turn it on. Then open the microwave and pick up the mug and close the door | STEP 5: Continue stand in front of the microwave and the sink but look up the the cabinets above | STEP 6: Open the left cabinet and place the coffee mug inside then close the cabinet | END