Task: Put a heated mug on the coffee machine.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          -0.5           0              180            0
   1  Potato          2.715          0.761          -0.473         0              0              0              104
   2  Potato          2.488          0.946          1.214          0              0              0              84
   3  DishSponge      1.141          0.771          1.160          0              0              0              94
   4  DishSponge      2.221          0.911          1.553          0              0              0              84
   5  Kettle          0.281          0.964          1.347          0              0              0              64
   6  ButterKnife     -0.294         0.911          1.299          0              90             0              60
   7  Pot             0.634          0.915          -0.430         0              0              0              49
   8  Spoon           -0.839         0.822          -1.360         0              90             0              108
   9  Fork            -0.621         0.821          -1.308         0              90             0              108
  10  Plate           2.524          1.658          1.468          0              0              0              74
  11  Plate           2.754          0.914          1.129          0              0              0              84
  12  Cup             1.896          0.112          1.196          0              0              0              85
  13  Cup             2.124          0.112          -0.379         0              180            0              90
  14  Egg             -2.048         0.461          1.290          0              270            0              102
  15  Egg             0.263          0.803          -0.596         0              0              0              106
  16  Knife           0.123          0.798          -0.707         0              90             0              106
  17  Knife           -0.836         0.853          -1.473         0              0              0              108
  18  SoapBottle      -0.123         0.120          1.236          0              0              0              77
  19  Tomato          -0.157         0.797          -0.707         0              0              0              106
  20  Tomato          2.777          1.050          -0.644         0              0              0              104
  21  Bowl            1.485          0.112          -0.458         0              180            0              66
  22  Bowl            1.155          0.909          1.214          0              0              0              84
  23  Mug             2.242          1.650          -0.798         0              180            0              70
  24  Mug             1.955          0.906          1.129          0              0              0              84
  25  Apple           0.466          1.853          1.423          0              180            0              107
  26  SoapBottle      1.597          1.660          1.508          0              0              0              72
  27  Plate           1.688          0.914          1.299          0              0              0              84
  28  Fork            -1.056         0.821          -1.257         0              90             0              108
  29  Pot             1.141          0.915          -0.769         0              0              0              49
  30  Bread           -0.198         0.969          1.214          0              0              0              60
  31  Egg             2.591          1.056          -0.709         0              0              0              104
  32  Kettle          0.678          0.964          1.345          0              0              0              87
  33  Tomato          -0.621         0.852          -1.206         0              90             0              108
  34  Cup             -0.621         0.818          -1.360         0              90             0              108
  35  Spatula         -0.734         0.835          -1.328         0              90             0              108
  36  Apple           -1.962         0.492          1.375          0              270            0              102
  37  Pan             0.281          0.964          1.082          0              0              0              55
  38  Lettuce         2.754          0.992          1.383          0              0              0              84
  39  SaltShaker      1.422          0.908          1.214          0              0              0              84
  40  Knife           0.193          0.798          -0.596         0              270            0              106
  41  Potato          -0.836         0.855          -1.183         0              0              0              108
  42  PepperShaker    1.422          0.908          1.383          0              0              0              84
  43  ButterKnife     2.488          0.911          1.129          0              0              0              84
  44  Bowl            1.955          0.909          1.383          0              0              0              84
  45  DishSponge      1.134          1.654          -0.811         0              180            0              59
  46  Spoon           2.868          0.772          1.198          0              0              0              93
  47  Mug             1.428          0.965          -0.577         0              0              0              49
  48  Sink            0.050          0.902          -0.648         0              0              0
  49  CounterTop      1.358          0.947          -0.600         0              0              0
  50  Cabinet         2.986          2.009          1.304          0              0              0
  51  Cabinet         1.022          2.009          -0.607         0              180            0
  52  StoveBurner     0.678          0.923          1.082          0              0              0
  53  Cabinet         2.371          0.402          0.995          0              0              0
  54  Drawer          -0.125         0.792          0.995          0              0              0
  55  StoveBurner     0.281          0.923          1.082          0              0              0
  56  Cabinet         1.025          0.402          0.995          0              0              0
  57  Cabinet         1.023          0.402          -0.296         0              180            0
  58  Cabinet         0.974          2.259          1.304          0              0              0
  59  Cabinet         0.979          2.009          -0.607         0              180            0
  60  CounterTop      -0.158         0.947          1.299          0              0              0
  61  Cabinet         1.725          2.009          1.304          0              0              0
  62  Drawer          2.205          0.792          -0.294         0              180            0
  63  Drawer          1.869          0.792          -0.294         0              180            0
  64  StoveBurner     0.281          0.923          1.347          0              0              0
  65  Drawer          2.512          0.792          0.995          0              0              0
  66  Cabinet         1.673          0.402          -0.296         0              180            0
  67  Drawer          1.524          0.792          0.995          0              0              0
  68  Drawer          1.174          0.792          -0.294         0              180            0
  69  Cabinet         1.720          0.402          0.995          0              0              0
  70  Cabinet         2.348          2.009          -0.607         0              180            0
  71  Cabinet         1.676          2.009          -0.607         0              180            0
  72  Cabinet         1.673          2.009          1.304          0              0              0
  73  Cabinet         2.326          2.009          1.304          0              0              0
  74  Cabinet         2.370          2.009          1.304          0              0              0
  75  Cabinet         0.021          2.009          1.304          0              0              0
  76  Cabinet         1.025          2.009          1.304          0              0              0
  77  Cabinet         -0.274         0.402          0.995          0              0              0
  78  Cabinet         1.675          0.402          0.995          0              0              0
  79  Drawer          1.524          0.792          -0.294         0              180            0
  80  Drawer          2.187          0.792          0.995          0              0              0
  81  Cabinet         2.977          0.402          0.995          0              0              0
  82  Drawer          1.862          0.792          0.995          0              0              0
  83  Cabinet         0.072          2.259          1.304          0              0              0
  84  CounterTop      1.917          0.947          1.299          0              0              0
  85  Cabinet         2.328          0.402          0.995          0              0              0
  86  Cabinet         1.723          2.009          -0.607         0              180            0
  87  StoveBurner     0.677          0.923          1.345          0              0              0
  88  Cabinet         0.355          2.009          -0.607         0              180            0
  89  Cabinet         0.332          2.009          -0.607         0              180            0
  90  Cabinet         2.349          0.402          -0.296         0              180            0
  91  Cabinet         -0.284         2.009          -0.607         0              180            0
  92  Faucet          0.061          0.906          -0.903         0              0              0
  93  Drawer          2.837          0.792          0.995          0              0              0
  94  Drawer          1.175          0.792          0.995          0              0              0
  95  Cabinet         1.723          0.402          -0.296         0              180            0
  96  StoveKnob       0.588          1.093          1.557          287.970        0              0
  97  StoveKnob       0.188          1.093          1.557          287.970        0              0
  98  StoveKnob       0.749          1.093          1.557          287.970        0              0
  99  StoveKnob       0.338          1.093          1.557          287.970        0              0
 100  Toaster         1.934          0.900          -0.717         0              0              0
 101  LightSwitch     -1.662         1.427          1.649          0              180            0
 102  GarbageCan      -1.965         -0.029         1.358          0              270            0
 103  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 104  Fridge          3.043          0.0            -0.709         0              0              0
 105  Window          -2.183         1.501          -0.014         90             270            0
 106  SinkBasin       0.043          0.755          -0.651         0              0              0
 107  Microwave       0.531          1.675          1.437          0              180            0
 108  DiningTable     -0.836         8.404          -1.258         0              0              0
 109  Chair           -1.611         0.002          -1.185         0              45             0
 110  NorthWall
 111  EastWall
 112  SouthWall
 113  WestWall

Plan:
STEP 1: Turn around, head to the middle of the room, turn right, head down to the coffee machine on the right counter.  | STEP 2: Pick up the mug on the coffee machine. | STEP 3: Turn around and bring the mug to the microwave above the stove.  | STEP 4: Heat the mug in the microwave. | STEP 5: Take the heated mug from the microwave, turn around, and bring it back to the coffee machine on the counter.  | STEP 6: Put the heated mug on the coffee machine.  | END