Task: microwave a mug and then put it away 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           -3.25          0.900          -1.5           0              270            0
   1  Pan             -1.167         0.931          -0.380         0              90             0              67
   2  Vase            1.169          2.209          -1.191         0              270            0              74
   3  Potato          1.087          0.893          1.063          0              270            0              90
   4  Potato          0.773          0.941          -1.793         0              0              0              73
   5  CreditCard      0.688          0.908          -1.879         0              0              0              73
   6  CellPhone       -1.041         0.930          -1.167         0              0              0              67
   7  DishSponge      1.148          1.665          -2.029         0              270            0              66
   8  DishSponge      -1.363         0.553          2.615          0              0              0              93
   9  ButterKnife     -0.846         0.933          0.239          0              0              0              67
  10  ButterKnife     -0.772         0.933          -0.067         0              0              0              67
  11  Glassbottle     -1.418         0.934          -1.167         0              0              0              67
  12  Glassbottle     0.861          0.109          -1.812         0              0              0              72
  13  Fork            0.834          0.495          -0.772         0              0              0              71
  14  Fork            0.794          0.494          -0.607         0              180            0              71
  15  Spoon           0.794          0.704          -0.690         0              270            0              65
  16  Spoon           -1.292         0.934          0.144          0              180            0              67
  17  Spatula         0.915          0.718          -0.524         0              0              0              65
  18  Spatula         -0.753         0.791          -0.573         0              180            0              88
  19  Knife           -0.624         0.957          0.009          0              180            0              67
  20  Knife           1.029          0.934          -0.208         0              90             0              68
  21  Egg             -0.818         0.216          0.543          0              180            0              87
  22  Egg             1.028          1.833          -1.132         0              270            0              89
  23  Cup             1.060          1.780          -1.236         0              270            0              89
  24  Tomato          -1.167         0.974          -0.905         0              0              0              67
  25  Tomato          -1.007         0.217          0.543          0              180            0              87
  26  SoapBottle      -1.355         0.933          0.144          0              0              0              67
  27  SoapBottle      1.101          1.666          0.089          0              270            0              75
  28  Bowl            1.026          1.646          0.967          0              270            0              90
  29  SaltShaker      0.910          0.104          -2.052         0              0              0              72
  30  PepperShaker    0.944          0.907          -0.034         0              0              0              68
  31  PepperShaker    0.910          0.104          -1.972         0              0              0              72
  32  Bread           0.905          0.944          1.158          0              270            0              90
  33  Statue          -0.698         0.936          -1.463         0              0              0              67
  34  Glassbottle     1.148          1.667          -2.234         0              270            0              66
  35  Bread           0.905          1.482          1.158          0              270            0              90
  36  CreditCard      -0.846         0.930          -1.154         0              0              0              67
  37  CellPhone       0.875          0.700          -0.607         0              270            0              65
  38  Potato          -0.753         0.811          -0.400         0              90             0              88
  39  Knife           -1.229         0.957          -0.905         0              0              0              67
  40  Fork            -0.642         0.781          -0.918         0              0              0              88
  41  Pan             0.848          0.946          -1.080         0              0              0              61
  42  Lettuce         0.866          1.688          1.209          9.746          11.109         0              90
  43  Plate           -1.985         0.557          2.718          0              0              0              93
  44  Apple           0.966          1.185          0.967          0              270            0              90
  45  Pot             1.077          0.950          -1.504         0              0              0              63
  46  Spatula         0.833          0.168          -0.729         0              90             0              70
  47  PaperTowelRoll  -1.778         0.658          2.718          0              0              0              93
  48  Tomato          0.944          0.952          -0.381         0              0              0              68
  49  Egg             -0.753         0.818          -0.745         0              90             0              88
  50  SaltShaker      -0.698         0.929          -1.308         0              0              0              67
  51  PepperShaker    1.014          0.117          0.374          0              270            0              68
  52  Vase            0.944          0.911          -0.729         0              0              0              68
  53  ButterKnife     1.114          0.911          -0.208         0              0              0              68
  54  SoapBottle      0.811          0.108          -2.212         0              0              0              72
  55  Vase            0.773          0.912          -0.555         0              0              0              68
  56  Bowl            1.087          1.405          0.967          0              270            0              90
  57  DishSponge      -0.477         0.933          0.315          0              0              0              67
  58  Spoon           0.859          0.912          0.139          0              270            0              68
  59  Cup             -0.808         0.777          -0.486         0              90             0              88
  60  Mug             1.055          1.661          0.216          0              0              0              75
  61  StoveBurner     0.842          0.919          -1.098         0              0              0
  62  Cabinet         0.648          0.474          0.244          0              270            0
  63  StoveBurner     1.077          0.919          -1.504         0              0              0
  64  StoveBurner     0.842          0.919          -1.504         0              0              0
  65  Drawer          0.637          0.755          -0.649         0              270            0
  66  Cabinet         0.949          2.159          -2.375         0              270            0
  67  CounterTop      -1.238         0.968          -0.643         0              0              0
  68  CounterTop      0.931          0.946          -0.208         0              0              0
  69  StoveBurner     1.077          0.919          -1.098         0              0              0
  70  Drawer          0.637          0.268          -0.649         0              270            0
  71  Drawer          0.637          0.547          -0.649         0              270            0
  72  Cabinet         0.648          0.475          -1.714         0              0              0
  73  CounterTop      0.931          0.946          -2.051         0              0              0
  74  Cabinet         0.948          2.439          -1.780         0              270            0
  75  Cabinet         0.948          2.159          -0.140         0              270            0
  76  Cabinet         0.949          2.159          -0.758         0              270            0
  77  Sink            -0.699         0.927          -0.649         0              0              0
  78  LightSwitch     -2.371         1.218          3.049          0              180            0
  79  StoveKnob       0.673          0.899          -1.373         315            90             180
  80  StoveKnob       0.673          0.899          -1.519         315            90             180
  81  StoveKnob       0.673          0.899          -1.086         315            90             180
  82  StoveKnob       0.673          0.899          -1.237         315            90             180
  83  Toaster         0.984          0.900          0.329          0              270            0
  84  Window          0.014          0.998          -2.640         90             0              0
  85  Window          -2.996         0.998          -2.640         90             0              0
  86  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  87  GarbageCan      -0.946         -0.036         0.575          0              180            0
  88  SinkBasin       -0.698         0.765          -0.647         0              90             0
  89  Microwave       1.042          1.680          -1.295         0              270            0
  90  Fridge          0.966          0.0            1.253          0              0              0
  91  HousePlant      -1.354         0.919          -1.540         0              0              0
  92  Shelf           -1.635         0.172          2.715          0              180            0
  93  Shelf           -1.635         0.552          2.715          0              180            0
  94  Shelf           -1.635         0.880          2.715          0              180            0
  95  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  96  Chair           -1.832         0.002          -0.034         0              119.999        0
  97  Chair           -1.854         0.002          -0.956         0              67.887         0
  98  Faucet          -0.867         1.161          -0.651         0              0              0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: turn right and walk straight then turn right and walk straight towards the fridge and turn right then turn left at the counter and look up | STEP 2: open the cabinet and pick up the mug and close the door | STEP 3: turn right and walk straight then turn left towards the stove and look up | STEP 4: open the microwave door and put the mug inside and close the door and set the timer then open the door and remove the mug and close the door | STEP 5: turn left and walk straight then turn right towards the stove and look up | STEP 6: open the cabinet and put the mug inside and close the door | END