Task: put heated mug inside 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           -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: walk to face coffee maker | STEP 2: remove mug from inside coffee maker | STEP 3: walk to face microwave | STEP 4: heat mug in microwave, remove from microwave | STEP 5: gaze to the cabinets left of the microwave | STEP 6: put mug inside cabinet | END