Task: Putting two mugs 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           -1.0           0.900          -0.75          0              0              0
   1  Potato          -1.818         0.065          1.329          0              270            0              88
   2  Potato          -1.783         0.863          -0.269         0              90             0              97
   3  CellPhone       0.107          0.923          0.506          0              0              0              82
   4  Ladle           1.658          0.806          1.074          0              0              0              80
   5  Kettle          1.975          0.938          0.384          0              180            0              60
   6  ButterKnife     1.574          0.911          -1.221         0              0              0              74
   7  Fork            -0.261         0.761          -1.490         0              90             0              98
   8  Fork            0.321          0.926          0.273          0              0              0              82
   9  Spoon           -0.002         0.761          -1.380         0              0              0              98
  10  Spoon           1.713          0.471          -0.157         0              0              0              59
  11  Spatula         0.321          0.940          0.970          0              0              0              82
  12  Spatula         -0.213         0.940          -0.190         0              90             0              82
  13  Pot             1.975          0.938          0.819          0              180            0              84
  14  Cup             -0.106         0.923          0.506          0              0              0              82
  15  Cup             -1.855         1.675          0.201          0              90             0              97
  16  Cup             1.924          1.004          -0.756         0              270            0              95
  17  Plate           0.107          0.924          0.273          0              0              0              82
  18  Plate           -1.151         0.112          -1.423         0              0              0              86
  19  Knife           1.769          0.605          -0.238         0              0              0              59
  20  Knife           0.661          0.933          -1.610         0              90             0              74
  21  SoapBottle      1.156          0.112          -1.542         0              0              0              67
  22  Bowl            -0.320         0.924          -0.190         0              0              0              82
  23  SaltShaker      -1.880         1.658          -1.207         0              90             0              61
  24  PepperShaker    -1.727         0.907          -1.013         0              0              0              74
  25  PepperShaker    -1.668         0.907          -1.513         0              0              0              74
  26  Mug             0.000          0.920          0.041          0              0              0              82
  27  Mug             -0.213         0.920          0.738          0              0              0              82
  28  Apple           1.988          1.059          -0.599         0              270            0              95
  29  SoapBottle      -0.361         0.118          -1.284         0              0              0              53
  30  Cup             2.030          0.909          -1.221         0              0              0              74
  31  Pot             0.107          0.929          1.202          0              0              0              82
  32  Fork            1.562          0.545          1.350          0              270            0              72
  33  Ladle           -1.551         0.955          -1.013         0              0              0              74
  34  Kettle          -0.249         0.115          -1.534         0              0              0              53
  35  Egg             -1.803         1.729          -0.269         0              90             0              97
  36  Plate           -1.902         0.910          -0.914         0              0              0              74
  37  Pan             -1.286         0.9            -1.348         0              79.769         0              74
  38  Lettuce         0.107          1.002          0.738          0              0              0              82
  39  Spatula         0.000          0.940          0.970          0              0              0              82
  40  Apple           0.256          0.813          -1.435         0              0              0              98
  41  Knife           1.574          0.933          -1.610         0              0              0              74
  42  SaltShaker      -1.639         0.907          -1.013         0              0              0              74
  43  PepperShaker    1.195          0.105          -1.352         0              0              0              67
  44  CellPhone       -0.106         0.923          1.202          0              0              0              82
  45  ButterKnife     1.764          0.349          -0.020         0              0              0              70
  46  Bread           1.813          0.992          1.182          0              0              0              74
  47  Tomato          1.553          0.966          1.258          0              0              0              74
  48  Potato          -1.783         0.863          0.107          0              90             0              97
  49  DishSponge      1.815          0.116          -0.020         0              0              0              57
  50  Spoon           1.658          0.764          1.001          0              0              0              80
  51  Mug             -0.106         0.920          0.273          0              0              0              82
  52  Bowl            -1.697         1.467          0.107          0              90             0              97
  53  Cabinet         -0.495         0.474          -1.149         0              0              0
  54  Window          -0.010         1.582          -1.821         0              0              0
  55  Drawer          0.805          0.475          -1.159         0              0              0
  56  StoveBurner     1.764          0.902          0.601          0              270            0
  57  Drawer          1.5            0.196          -0.019         0              0              0
  58  Drawer          1.5            0.629          -0.018         0              0              0
  59  Drawer          1.5            0.602          -0.019         0              270            0
  60  StoveBurner     1.975          0.902          0.384          0              270            0
  61  Cabinet         -1.703         2.022          -1.453         0              90             0
  62  Cabinet         1.789          2.019          -0.819         0              270            0
  63  Cabinet         0.494          0.474          -1.149         0              0              0
  64  Cabinet         0.409          0.475          0.444          0              0              0
  65  Drawer          -0.696         0.475          -1.159         0              0              0
  66  Drawer          1.5            0.140          0.599          0              270            0
  67  Cabinet         1.389          0.474          -1.149         0              0              0
  68  Drawer          1.5            0.305          0.600          0              0              0
  69  StoveBurner     1.975          0.902          0.601          0              270            0
  70  Drawer          1.5            0.429          -0.019         0              0              0
  71  StoveBurner     1.764          0.902          0.819          0              270            0
  72  Drawer          1.5            0.519          1.220          0              0              0
  73  Cabinet         1.705          2.019          -1.449         0              0              0
  74  CounterTop      0.002          0.947          -1.513         0              0              0
  75  Drawer          1.5            0.629          0.605          0              0              0
  76  Cabinet         -0.627         2.019          -1.449         0              0              0
  77  StoveBurner     1.764          0.902          0.384          0              270            0
  78  Drawer          1.5            0.538          0.600          0              0              0
  79  Sink            0.0            0.893          -1.434         0              0              0
  80  Drawer          1.5            0.782          1.220          0              270            0
  81  Window          2.217          1.565          -0.384         0              0              0
  82  CounterTop      -0.014         0.961          0.505          0              0              0
  83  Drawer          1.5            0.200          1.220          0              0              0
  84  StoveBurner     1.975          0.902          0.819          0              270            0
  85  Window          -3.240         1.616          2.693          0              270            0
  86  Cabinet         -1.389         0.474          -1.149         0              0              0
  87  LightSwitch     -0.153         1.291          3.700          0              180            0
  88  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  89  StoveKnob       1.602          0.917          0.570          0              270            180
  90  StoveKnob       1.602          0.917          0.625          0              270            180
  91  StoveKnob       1.602          0.917          0.739          0              270            180
  92  StoveKnob       1.602          0.917          0.680          0              270            180
  93  StoveKnob       1.602          0.917          0.462          0              270            180
  94  StoveKnob       1.602          0.917          0.517          0              270            180
  95  Microwave       1.932          0.899          -0.766         0              270            0
  96  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  97  Fridge          -1.764         0.0            0.014          0              90             0
  98  SinkBasin       -0.014         0.736          -1.435         0              0              0
  99  Toaster         1.977          0.900          -0.336         0              270            0
 100  Faucet          -0.020         1.137          -1.605         0              270            0
 101  Chair           -9.354         0.000          1.242          0              180            0
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: Turn right and go to the microwave | STEP 2: Grab the mug out of the microwave | STEP 3: Back up from the counter and look up at the cabinets | STEP 4: Put the mug in the top left cabinet | STEP 5: Move forward and look down at the counter | STEP 6: Grab the mug that's to the right of the microwave | STEP 7: Back up and look up at the cabinets | STEP 8: Put the mug in the top left cabinet | END