Task: heat up coffee in a mug and put it away inside the cabinet door

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.900          -1.75          0              90             0
   1  Statue          -1.229         0.936          -1.167         0              0              0              57
   2  Potato          -1.355         0.963          -0.905         0              0              0              57
   3  CreditCard      -1.778         0.551          2.718          0              0              0              83
   4  CellPhone       0.834          0.492          -0.607         0              270            0              61
   5  DishSponge      0.688          0.910          -0.555         0              0              0              58
   6  DishSponge      1.114          0.910          -1.879         0              0              0              63
   7  ButterKnife     -1.292         0.933          0.144          0              0              0              57
   8  Glassbottle     -1.467         0.554          2.667          0              0              0              83
   9  Glassbottle     1.212          2.208          -1.082         0              270            0              64
  10  Fork            -0.698         0.934          -1.540         0              0              0              57
  11  Fork            0.875          0.495          -0.731         0              0              0              61
  12  Spoon           -0.753         0.781          -0.745         0              90             0              78
  13  Spatula         -0.753         0.791          -0.918         0              180            0              78
  14  Knife           -0.772         0.957          -1.231         0              0              0              57
  15  Egg             0.859          0.949          -1.879         0              0              0              63
  16  SoapBottle      -1.007         0.179          0.543          0              180            0              77
  17  PepperShaker    0.753          0.150          -0.611         0              270            0              60
  18  PepperShaker    0.773          0.907          -0.729         0              0              0              58
  19  Bread           0.859          0.992          0.139          0              0              0              58
  20  Bread           1.114          0.992          -0.381         0              0              0              58
  21  Apple           0.844          1.693          1.444          0              270            0              80
  22  Apple           -0.912         0.227          0.641          0              180            0              77
  23  Statue          -1.816         0.871          2.754          0              180            0              57
  24  Glassbottle     1.126          2.208          -1.408         0              270            0              64
  25  Bread           -0.779         0.996          0.209          0              258.641        0              57
  26  CreditCard      0.794          0.491          -0.690         0              270            0              61
  27  CellPhone       0.794          0.699          -0.648         0              270            0              55
  28  Potato          -0.642         0.811          -0.832         0              180            0              78
  29  Knife           0.859          0.934          -0.729         0              0              0              58
  30  Fork            0.773          0.911          -1.965         0              0              0              63
  31  Pan             0.848          0.946          -1.080         0              0              0              51
  32  Lettuce         0.866          1.688          1.209          9.746          11.103         0              80
  33  Plate           -1.985         0.557          2.718          0              0              0              83
  34  Apple           1.026          0.913          1.444          0              270            0              80
  35  Pot             1.077          0.950          -1.504         0              0              0              53
  36  Spatula         0.754          0.718          -0.690         0              180            0              55
  37  PaperTowelRoll  0.944          1.015          -1.793         0              0              0              63
  38  Tomato          1.087          1.683          0.967          0              270            0              80
  39  Egg             0.995          1.833          -1.339         0              270            0              79
  40  SaltShaker      1.126          2.204          -1.517         0              270            0              64
  41  PepperShaker    0.914          0.150          -0.729         0              270            0              60
  42  Vase            1.056          1.666          -0.593         0              270            0              66
  43  ButterKnife     -0.624         0.933          -1.154         0              0              0              57
  44  SoapBottle      -1.571         0.882          2.719          0              0              0              84
  45  Vase            1.148          1.667          -2.166         0              270            0              56
  46  Bowl            0.960          0.111          -2.052         0              0              0              62
  47  DishSponge      0.960          0.107          -2.292         0              0              0              62
  48  Spoon           -0.550         0.934          0.009          0              0              0              57
  49  Cup             1.026          1.132          1.254          0              270            0              80
  50  Mug             0.903          0.942          -2.110         0              300.131        0              76
  51  StoveBurner     0.842          0.919          -1.098         0              0              0
  52  Cabinet         0.648          0.474          0.244          0              270            0
  53  StoveBurner     1.077          0.919          -1.504         0              0              0
  54  StoveBurner     0.842          0.919          -1.504         0              0              0
  55  Drawer          0.637          0.755          -0.649         0              270            0
  56  Cabinet         0.949          2.159          -2.375         0              270            0
  57  CounterTop      -1.238         0.968          -0.643         0              0              0
  58  CounterTop      0.931          0.946          -0.208         0              0              0
  59  StoveBurner     1.077          0.919          -1.098         0              0              0
  60  Drawer          0.637          0.268          -0.649         0              270            0
  61  Drawer          0.637          0.547          -0.649         0              270            0
  62  Cabinet         0.648          0.475          -1.714         0              0              0
  63  CounterTop      0.931          0.946          -2.051         0              0              0
  64  Cabinet         0.948          2.439          -1.780         0              270            0
  65  Cabinet         0.948          2.159          -0.140         0              270            0
  66  Cabinet         0.949          2.159          -0.758         0              270            0
  67  Sink            -0.699         0.927          -0.649         0              0              0
  68  LightSwitch     -2.371         1.218          3.049          0              180            0
  69  StoveKnob       0.673          0.899          -1.373         315            90             180
  70  StoveKnob       0.673          0.899          -1.519         315            90             180
  71  StoveKnob       0.673          0.899          -1.086         315            90             180
  72  StoveKnob       0.673          0.899          -1.237         315            90             180
  73  Toaster         0.984          0.900          0.329          0              270            0
  74  Window          0.014          0.998          -2.640         90             0              0
  75  Window          -2.996         0.998          -2.640         90             0              0
  76  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  77  GarbageCan      -0.946         -0.036         0.575          0              180            0
  78  SinkBasin       -0.698         0.765          -0.647         0              90             0
  79  Microwave       1.042          1.680          -1.295         0              270            0
  80  Fridge          0.966          0.0            1.253          0              0              0
  81  HousePlant      -1.354         0.919          -1.540         0              0              0
  82  Shelf           -1.635         0.172          2.715          0              180            0
  83  Shelf           -1.635         0.552          2.715          0              180            0
  84  Shelf           -1.635         0.880          2.715          0              180            0
  85  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  86  Chair           -1.832         0.002          -0.034         0              119.999        0
  87  Chair           -1.854         0.002          -0.956         0              67.887         0
  88  Faucet          -0.867         1.161          -0.651         0              0              0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: turn right walk straight to the window then turn left and walk straight towards the counter and turn left then turn right and walk straight towards the counter | STEP 2: pick up the coffee mug on the coffee maker | STEP 3: turn left and walk straight then turn right towards the stove and look up | STEP 4: open the microwave door above the stove and put the coffee mug inside then close the door and start the timer and open the door and remove the mug and close the door | STEP 5: look down and turn left then walk straight then turn right towards the counter and look up at the cabinet  | STEP 6: open the cabinet door and put the mug inside then close the door | END