Task: place a microwaved coffee mug inside of the kitchen cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            1.124          -0.75          0              0              0
   1  DishSponge      -1.451         1.322          -2.981         0              0              0              49
   2  DishSponge      0.206          1.322          -3.011         0              0              0              49
   3  WineBottle      -2.049         1.323          -1.681         0              0              0              49
   4  Spoon           -1.790         1.324          1.094          0              0              0              49
   5  Spoon           0.506          1.324          -2.794         0              0              0              49
   6  Pot             1.017          1.763          2.171          0              270            0              62
   7  Cup             -1.952         0.341          0.613          0              0              0              47
   8  Cup             -1.530         1.320          1.094          0              0              0              49
   9  Plate           0.900          0.345          -1.854         0              180            0              48
  10  SoapBottle      -1.681         0.344          0.412          0              0              0              47
  11  SoapBottle      -1.682         0.344          1.317          0              0              0              50
  12  Tomato          -1.826         1.367          -1.255         0              0              0              56
  13  Bowl            0.920          1.522          1.539          0              270            0              62
  14  SaltShaker      -2.179         1.318          -2.201         0              0              0              49
  15  PepperShaker    1.110          1.202          1.238          0              0              0              74
  16  PepperShaker    0.349          1.318          -3.343         0              0              0              49
  17  Bread           -2.049         1.397          2.069          0              0              0              49
  18  Lettuce         -1.451         1.399          -3.314         0              0              0              49
  19  Mug             -1.920         1.318          -2.721         0              0              0              49
  20  Apple           -1.698         1.099          -0.587         0              0              0              67
  21  Bread           -1.660         1.397          1.094          0              0              0              49
  22  Pot             -0.125         1.332          -2.973         0              0              0              57
  23  Knife           0.492          1.352          -3.121         0              0              0              49
  24  Bowl            -2.049         1.321          -2.981         0              0              0              49
  25  Potato          0.766          1.362          -1.312         0              0              0              49
  26  SoapBottle      1.276          1.207          1.222          0              0              0              74
  27  Fork            -1.954         1.051          -0.496         0              270            0              67
  28  Cup             -1.665         0.341          -2.063         0              0              0              45
  29  Kettle          -0.630         1.331          -3.301         0              180            0              46
  30  Egg             -2.004         1.377          -1.186         0              0              0              56
  31  Pan             -1.881         0.327          -2.035         0              0              0              45
  32  SaltShaker      -1.682         0.338          1.213          0              0              0              50
  33  WineBottle      -1.614         0.344          0.613          0              0              0              47
  34  Lettuce         -1.891         1.399          -1.066         6.904          0              355.826        56
  35  Spatula         0.766          1.337          -0.942         0              0              0              49
  36  PaperTowelRoll  1.193          1.312          1.254          0              0              0              74
  37  Tomato          0.938          1.709          1.486          0              270            0              62
  38  Plate           1.053          0.345          -2.267         0              180            0              48
  39  PepperShaker    0.206          1.318          -2.900         0              0              0              49
  40  DishSponge      -2.179         1.322          -3.241         0              0              0              49
  41  Spoon           0.983          0.461          1.054          0              270            0              76
  42  Apple           -1.657         0.329          2.151          0              270            0              64
  43  Mug             0.965          1.371          -1.534         0              270            0              70
  44  StoveBurner     -0.239         1.325          -3.301         0              180            0
  45  Cabinet         -1.461         0.775          -2.002         0              0              0
  46  StoveBurner     -0.630         1.325          -3.301         0              180            0
  47  Cabinet         -1.461         0.775          0.470          0              0              0
  48  Cabinet         0.578          0.776          -2.054         0              0              0
  49  CounterTop      -1.809         1.358          1.182          0              0              0
  50  Cabinet         -1.461         0.775          1.310          0              0              0
  51  Faucet          -2.063         1.362          -0.726         0              39.391         0
  52  StoveBurner     -0.749         1.325          -2.973         0              0              0
  53  Drawer          -1.610         0.681          -0.430         0              0              0
  54  Window          -2.566         1.799          -0.822         270            0              0
  55  Drawer          -1.610         0.681          -1.217         0              0              0
  56  Sink            -1.990         1.143          -0.975         0              0              0
  57  StoveBurner     -0.125         1.325          -2.973         0              0              0
  58  StoveKnob       -0.185         1.338          -2.741         0              270            180
  59  StoveKnob       -0.336         1.338          -2.741         0              270            180
  60  StoveKnob       -0.569         1.338          -2.741         0              270            180
  61  StoveKnob       -0.707         1.338          -2.741         0              270            180
  62  Fridge          1.013          0.227          1.917          0              270            0
  63  Microwave       0.994          1.310          -2.163         0              270            0
  64  GarbageCan      -1.633         0.212          2.192          0              270            0
  65  LightSwitch     1.386          1.565          -0.657         0              270            0
  66  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  67  SinkBasin       -1.835         1.039          -0.542         0              0              0
  68  ButterKnife     0.873          0.468          0.651          0              0              0
  69  Toaster         -1.885         1.310          -2.512         0              90             0
  70  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  71  Drawer          0.647          1.061          0.680          0              270            0
  72  Drawer          0.648          1.061          1.020          0              270            0
  73  Drawer          0.648          0.843          1.020          0              270            0
  74  SideTable       0.975          0.220          0.869          0              270            0
  75  Drawer          0.648          0.602          0.680          0              270            0
  76  Drawer          0.648          0.596          1.020          0              270            0
  77  Drawer          0.648          0.843          0.680          0              270            0
  78  Stool           0.606          0.222          -1.084         1.233          280.489        0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: turn around and walk over to the coffee maker on the kitchen counter to the left | STEP 2: grab the coffee mug out from underneath the coffee maker spout | STEP 3: turn left and walk over to the microwave at the end of the room on the right | STEP 4: place the cup inside the microwave, let the microwave microwave the cup for a bit, then take it back out | STEP 5: turn around and walk over to the kitchen counter to the right of the sink at the end of the room | STEP 6: place the cup inside of the cabinet to the bottom right of the sink under the kitchen counter | END