Task: To heat a mug and put it inside of 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            0.930          -1.0           0              0              0
   1  Potato          3.182          0.139          1.707          0              225            0              105
   2  Potato          -0.985         1.036          1.364          0              90             0              112
   3  Ladle           -0.862         0.937          0.846          0              0              0              68
   4  DishSponge      0.063          0.899          -1.286         0              45             0              85
   5  DishSponge      0.533          0.907          0.627          0              0              0              95
   6  ButterKnife     -0.868         0.518          -0.011         0              0              0              91
   7  ButterKnife     2.966          0.900          -0.698         0              0              0              63
   8  Glassbottle     0.710          0.908          0.827          0              0              0              95
   9  Kettle          -0.600         0.902          -1.090         0              135            0              53
  10  Spatula         -0.868         0.533          0.401          0              90             0              61
  11  CellPhone       -0.950         0.703          -0.098         0              0              0              71
  12  CellPhone       -1.080         0.897          0.399          0              0              0              68
  13  Mug             3.318          1.459          -1.501         0              270            0              62
  14  Mug             -0.655         0.895          -0.571         0              45             0              64
  15  Mug             1.008          1.242          -1.448         0              0              0              110
  16  Apple           0.773          0.959          -1.475         0              0              0              110
  17  Apple           0.022          0.974          -1.588         0              0              0              85
  18  Bread           1.361          0.973          0.747          0              0              0              95
  19  Lettuce         -0.038         0.965          -1.388         0              45             0              85
  20  Bowl            3.198          0.172          -0.404         0              0              0              75
  21  SoapBottle      3.031          1.473          -1.088         0              0              0              78
  22  Egg             -1.085         1.050          1.311          0              90             0              112
  23  Egg             0.494          0.963          0.301          0              36.810         0              95
  24  Plate           0.808          1.687          -1.480         0              0              0              79
  25  Plate           0.798          0.921          0.426          0              0              0              95
  26  Glassbottle     -1.014         1.259          -0.815         0              45             0              83
  27  SoapBottle      -1.080         0.909          0.623          0              0              0              64
  28  Potato          1.164          0.751          -1.354         0              0              0              110
  29  Fork            0.179          0.900          -1.660         0              0              0              85
  30  Ladle           3.152          0.749          -0.361         0              270            0              60
  31  Pot             0.423          0.900          0.869          0              0              0              95
  32  Kettle          -0.419         0.902          -1.269         0              315            0              66
  33  Spatula         3.069          0.762          -0.034         0              90             0              109
  34  Knife           -0.721         0.925          -0.908         0              135            0              64
  35  Lettuce         -0.725         0.965          -0.803         0              45             0              64
  36  Cup             0.336          0.898          -1.660         0              0              0              42
  37  SaltShaker      -0.056         0.129          -1.424         0              45             0              89
  38  Egg             -1.018         1.050          1.523          0              90             0              112
  39  PepperShaker    -0.909         0.514          -0.186         0              0              0              91
  40  ButterKnife     -0.862         0.900          -0.047         0              0              0              64
  41  Apple           0.851          1.321          -1.475         0              0              0              110
  42  Pan             0.341          0.873          -1.649         0              167.065        0              85
  43  Bread           1.536          0.972          0.472          0              286.459        1.937          95
  44  CellPhone       -0.684         0.131          -0.753         0              45             0              90
  45  DishSponge      0.285          0.130          -1.475         0              0              0              54
  46  Tomato          0.929          0.750          -1.459         0              0              0              110
  47  Spoon           -0.683         0.329          -0.706         0              45             0              97
  48  Bowl            3.028          0.174          0.770          0              0              0              73
  49  Mug             2.888          0.895          0.639          0              0              0              63
  50  Drawer          0.376          0.572          -1.509         0              0              0
  51  Drawer          3.020          0.769          -0.783         0              180            0
  52  Drawer          -0.860         0.577          1.429          0              0              0
  53  StoveBurner     -0.600         0.897          -1.090         0              135            0
  54  Drawer          0.376          0.191          -1.509         0              0              0
  55  Cabinet         1.402          1.874          -1.259         0              0              0
  56  Cabinet         -0.202         1.963          -1.328         0              0              0
  57  Drawer          -0.860         0.765          1.429          0              0              0
  58  Drawer          -0.677         0.765          -0.700         0              0              0
  59  StoveBurner     -0.420         0.897          -0.920         0              135            0
  60  Drawer          3.020          0.769          -0.407         0              180            0
  61  Drawer          -0.860         0.577          0.663          0              0              0
  62  Cabinet         2.819          1.768          -1.850         0              0              0
  63  CounterTop      3.111          0.936          0.019          0              0              0
  64  CounterTop      -1.007         0.935          -0.039         0              0              0
  65  Drawer          -0.860         0.385          0.663          0              0              0
  66  StoveBurner     -0.419         0.897          -1.269         0              315            0
  67  Drawer          -0.047         0.573          -1.324         0              0              0
  68  Drawer          -0.860         0.765          0.663          0              0              0
  69  Drawer          -0.860         0.385          -0.100         0              0              0
  70  Drawer          0.376          0.380          -1.509         0              0              0
  71  Drawer          -0.860         0.765          -0.100         0              0              0
  72  Drawer          0.376          0.765          -1.509         0              0              0
  73  Cabinet         2.849          0.419          0.409          0              0              0
  74  Drawer          -0.047         0.765          -1.324         0              0              0
  75  Cabinet         2.849          0.419          -0.610         0              0              0
  76  Cabinet         2.849          0.419          -0.959         0              0              0
  77  Cabinet         3.069          1.666          -0.709         0              0              0
  78  Cabinet         2.819          1.768          -1.047         0              0              0
  79  Cabinet         0.620          1.874          -1.259         0              0              0
  80  Cabinet         0.140          1.666          -1.559         0              0              0
  81  Cabinet         -0.189         1.666          -1.340         0              0              0
  82  Cabinet         -0.709         1.963          -0.819         0              0              0
  83  Cabinet         -0.920         1.665          -0.620         0              0              0
  84  Drawer          -0.860         0.190          -0.100         0              0              0
  85  CounterTop      0.133          0.935          -1.457         0              0              0
  86  Drawer          3.020          0.769          0.695          0              180            0
  87  Drawer          -0.677         0.577          -0.700         0              0              0
  88  Drawer          -0.860         0.190          1.429          0              0              0
  89  Drawer          -0.047         0.192          -1.324         0              0              0
  90  Drawer          -0.677         0.193          -0.700         0              0              0
  91  Drawer          -0.860         0.577          -0.100         0              0              0
  92  Sink            3.078          0.887          0.086          0              0              0
  93  StoveBurner     -0.239         0.897          -1.089         0              315            0
  94  Drawer          -0.860         0.190          0.663          0              0              0
  95  CounterTop      1.210          0.937          0.463          0              0              0
  96  Drawer          -0.047         0.381          -1.324         0              0              0
  97  Drawer          -0.677         0.387          -0.700         0              0              0
  98  Mirror          -1.295         1.630          0.045          0              0              0
  99  Drawer          -0.860         0.385          1.429          0              0              0
 100  HousePlant      3.196          0.891          -0.368         0              0              0
 101  StoveKnob       -0.090         0.790          -1.009         270            45             0
 102  StoveKnob       -0.280         0.790          -0.819         270            45             0
 103  StoveKnob       -0.180         0.790          -0.920         270            45             0
 104  StoveKnob       -0.370         0.790          -0.720         270            45             0
 105  GarbageCan      3.137          0.025          1.545          0              225            0
 106  Window          3.703          1.675          0.046          90             90             0
 107  CoffeeMachine   3.214          0.890          0.697          0              270            0
 108  LightSwitch     2.592          1.309          -1.880         0              0              0
 109  SinkBasin       3.069          0.736          0.108          0              90             0
 110  Fridge          1.008          0.029          -1.467         0              0              0
 111  Toaster         -1.035         0.873          -0.396         0              90             0
 112  Microwave       -1.034         0.874          1.428          0              90             0
 113  Faucet          3.305          0.886          0.094          270            180            0
 114  NorthWall
 115  EastWall
 116  SouthWall
 117  WestWall

Plan:
STEP 1: Turn left and walk to the counter with the toaster on it.  | STEP 2: Pick up the mug in front of the toaster.  | STEP 3: Walk over to the microwave on the left.  | STEP 4: Open the microwave door, put the mug inside of the microwave, close the door, heat the mug, open the door, take the mug out of the microwave, and close the door.  | STEP 5: Turn left and walk back over to the counter with the toaster and look up at the cabinet.  | STEP 6: Open the cabinet door, put the mug inside of the cabinet, and close the door.  | END