Task: put a heated mug into 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           -2.5           0.901          1.0            0              180            0
   1  Potato          -2.866         0.080          0.351          0              26.101         0              68
   2  Potato          -2.628         0.961          3.580          0              0              0              61
   3  DishSponge      -1.180         0.795          0.447          0              0              0              72
   4  Spoon           -2.480         0.901          1.913          0              0              0              75
   5  Fork            -0.314         0.901          2.530          0              0              0              77
   6  Fork            -0.314         0.901          3.133          0              0              0              77
   7  Pot             -0.486         0.900          3.334          0              0              0              77
   8  Egg             -2.764         1.219          4.278          0              90             0              71
   9  Egg             -2.785         0.332          4.501          0              90             0              71
  10  Cup             -2.480         0.900          2.706          0              0              0              75
  11  Plate           -0.747         1.777          0.205          0              0              0              52
  12  Knife           -2.785         0.961          3.209          0              180            0              61
  13  Knife           -1.662         0.688          0.409          0              90             0              57
  14  SoapBottle      -0.228         0.900          2.329          0              0              0              77
  15  Bowl            -1.303         1.770          0.297          0              90             0              51
  16  Bowl            -2.805         1.182          4.427          0              90             0              71
  17  SaltShaker      -2.864         0.931          3.302          0              0              0              61
  18  Bread           -0.486         0.957          2.530          0              0              0              77
  19  Mug             -2.995         0.895          2.573          0              0              0              75
  20  Mug             -2.549         0.930          3.395          0              180            0              61
  21  Mug             -2.778         1.001          3.714          0              90             0              74
  22  Egg             -2.549         0.968          3.673          0              0              0              61
  23  Plate           -2.789         0.904          2.309          0              0              0              75
  24  Fork            -0.486         0.901          2.932          0              0              0              77
  25  Bread           -2.864         0.940          1.983          0              0              0              75
  26  Apple           -2.691         0.355          4.204          0              90             0              Floor|-00.05|
  27  Lettuce         -2.480         0.980          2.309          0              0              0              75
  28  Spatula         -0.164         0.677          0.464          0              270            0              43
  29  Knife           -2.706         0.961          3.766          0              180            0              61
  30  Potato          -2.377         0.926          2.706          0              0              0              75
  31  Tomato          -2.995         0.964          2.441          0              0              0              75
  32  Cup             -2.995         0.900          2.309          0              0              0              75
  33  SaltShaker      -1.824         0.658          0.519          0              0              0              57
  34  PepperShaker    -0.380         0.658          0.573          0              0              0              43
  35  ButterKnife     -2.892         0.900          2.706          0              0              0              75
  36  SoapBottle      -2.480         0.900          2.573          0              0              0              75
  37  Pan             -0.250         0.926          4.651          0              0              0              56
  38  DishSponge      -0.272         0.661          0.464          0              0              0              43
  39  Pot             -0.535         0.928          4.274          0              0              0              58
  40  Spoon           -1.353         0.797          0.337          0              90             0              72
  41  Mug             -1.636         1.768          0.160          0              0              0              49
  42  Bowl            -2.831         0.295          4.278          0              90             0              71
  43  Drawer          -0.325         0.696          0.413          0              0              0
  44  Cabinet         -0.595         0.490          0.648          0              0              0
  45  Cabinet         -0.555         0.490          0.646          0              0              0
  46  Cabinet         -1.591         0.490          0.646          0              0              0
  47  Cabinet         -1.554         0.490          0.646          0              0              0
  48  Cabinet         -2.550         0.490          0.646          0              0              0
  49  Cabinet         -1.514         2.046          0.392          0              0              0
  50  Cabinet         -2.474         2.046          0.392          0              0              0
  51  Cabinet         -1.478         2.046          0.392          0              0              0
  52  Cabinet         -0.518         2.046          0.392          0              0              0
  53  Cabinet         -0.479         2.046          0.392          0              0              0
  54  CounterTop      -1.366         0.952          0.349          0              0              0
  55  Sink            -1.108         0.926          0.340          0              0              0
  56  StoveBurner     -0.254         0.922          4.672          0              0              0
  57  Drawer          -1.824         0.696          0.413          0              0              0
  58  StoveBurner     -0.535         0.922          4.274          0              0              0
  59  StoveBurner     -0.254         0.922          4.274          0              0              0
  60  StoveBurner     -0.536         0.922          4.672          0              0              0
  61  CounterTop      -2.780         0.971          3.487          0              0              0
  62  Drawer          -2.323         0.696          0.413          0              0              0
  63  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  66  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  67  Toaster         -0.286         0.861          3.520          0              270            0
  68  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  69  LightSwitch     -0.064         1.447          1.996          0              270            0
  70  Window          -3.075         1.593          1.361          90             90             0
  71  Fridge          -2.802         0.0            4.427          0              0              0
  72  SinkBasin       -1.106         0.785          0.337          0              0              0
  73  Microwave       -0.358         0.917          0.224          0              0              0
  74  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  75  DiningTable     -2.733         -0.003         2.607          0              270            0
  76  Faucet          -1.077         0.920          0.028          270            270            0
  77  DiningTable     -0.488         -0.003         3.182          0              270            0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: walk to face counter top to the right of the sink | STEP 2: pick up black mug from above the paper bag on the counter | STEP 3: walk to the left to face the microwave | STEP 4: heat the mug in microwave, pick up mug from microwave | STEP 5: walk right to face cabinet above sink | STEP 6: put the mug inside the cabinet | END