Task: place a hot mug under the coffee maker

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          1.25           0              180            0
   1  Pan             2.790          1.026          -0.541         0              0              0              56
   2  Potato          -0.968         1.484          -0.295         0              90             0              100
   3  Potato          -0.577         0.858          1.181          0              90             0              113
   4  Ladle           -0.590         0.840          2.418          0              0              0              62
   5  Ladle           2.599          0.803          4.495          0              90             0              57
   6  ButterKnife     1.926          0.764          3.821          0              270            0              57
   7  Pot             1.761          1.027          -1.599         0              0              0              99
   8  Spatula         2.451          0.779          4.044          0              270            0              57
   9  Spatula         -0.782         0.831          1.414          0              270            0              113
  10  Spoon           2.975          0.765          4.118          0              270            0              57
  11  Fork            -0.418         1.028          0.508          0              0              0              59
  12  Fork            -0.782         0.817          1.414          0              180            0              113
  13  Egg             -1.101         0.367          -0.627         0              90             0              100
  14  Egg             2.276          0.808          3.821          0              270            0              57
  15  Cup             -0.906         0.784          -0.295         0              90             0              100
  16  Cup             1.615          2.279          -1.795         0              0              0              72
  17  Knife           -0.519         0.825          0.535          0              0              0              58
  18  SoapBottle      -1.187         1.026          1.150          0              0              0              59
  19  SoapBottle      2.160          1.025          1.354          0              136.999        0              56
  20  Bowl            1.301          1.779          -1.911         0              0              0              96
  21  Bowl            2.991          0.031          -1.177         0              0              0              98
  22  SaltShaker      -0.544         1.023          0.877          0              0              0              59
  23  PepperShaker    -0.669         1.023          2.066          0              0              0              59
  24  Lettuce         -0.714         0.874          1.492          0              90             0              113
  25  Mug             -0.762         1.759          0.398          0              0              0              74
  26  Apple           2.473          1.077          0.809          0              136.999        0              56
  27  Apple           2.276          0.814          4.044          0              270            0              57
  28  Pan             1.836          1.027          -1.84          0              90             0              54
  29  Glassbottle     1.469          1.027          -1.774         0              90             0              56
  30  Knife           2.801          0.789          3.895          0              270            0              57
  31  SoapBottle      -0.944         1.779          2.427          0              0              0              94
  32  Egg             -1.171         1.071          2.434          0              0              0              59
  33  Fork            2.451          0.765          4.495          0              0              0              57
  34  Potato          2.919          0.806          3.604          0              329.999        0              57
  35  Ladle           2.113          0.803          3.527          0              225            0              57
  36  Tomato          2.506          0.818          3.577          0              329.999        0              57
  37  Pot             2.116          1.027          -1.84          0              270            0              60
  38  WineBottle      -0.418         1.028          2.556          0              0              0              59
  39  Plate           2.893          0.764          4.307          0              225            0              57
  40  Spatula         -0.669         1.042          2.434          0              90             0              59
  41  PaperTowelRoll  2.706          1.131          -1.762         0              0              0              56
  42  Lettuce         -0.782         0.874          1.181          0              90             0              113
  43  Apple           -1.069         0.836          -0.406         0              90             0              100
  44  SaltShaker      1.826          2.276          -1.951         0              0              0              72
  45  PepperShaker    2.874          0.797          -0.175         0              0              0              66
  46  ButterKnife     2.762          0.801          0.118          0              180            0              67
  47  Bread           2.790          1.094          -1.456         0              0              0              56
  48  Cup             2.376          0.763          3.795          0              0              0              57
  49  DishSponge      -0.590         0.801          0.858          0              0              0              58
  50  Bowl            -0.922         1.440          -0.516         0              90             0              100
  51  Spoon           -0.731         0.803          0.535          0              0              0              58
  52  Mug             1.953          1.021          1.998          0              136.999        0              56
  53  Sink            -0.716         1.023          1.333          0              0              0
  54  StoveBurner     1.835          1.018          -1.840         0              90             0
  55  StoveBurner     2.177          1.018          -1.599         0              0              0
  56  CounterTop      2.812          0.992          0.675          0              0              0
  57  DiningTable     2.419          0.003          3.930          0              0              0
  58  Drawer          -0.643         0.828          0.616          0              0              0
  59  CounterTop      -0.813         1.062          2.188          0              0              0
  60  StoveBurner     2.115          1.018          -1.840         0              270            0
  61  Drawer          -0.643         0.831          1.953          0              0              0
  62  Drawer          -0.643         0.833          2.418          0              0              0
  63  Drawer          1.347          0.836          -1.539         0              0              0
  64  Drawer          2.693          0.833          -1.131         0              0              0
  65  Drawer          2.693          0.833          -0.699         0              0              0
  66  Drawer          2.693          0.833          -0.267         0              0              0
  67  Drawer          2.693          0.833          0.163          0              0              0
  68  Drawer          2.524          0.833          0.720          0              2.000          0
  69  Drawer          2.232          0.833          1.036          0              2.000          0
  70  Drawer          1.936          0.833          1.354          0              2.000          0
  71  Drawer          1.646          0.833          1.670          0              2.000          0
  72  Cabinet         1.504          2.475          -1.710         0              0              0
  73  Cabinet         -0.823         2.220          1.621          0              0              0
  74  Cabinet         -0.823         2.220          0.615          0              0              0
  75  Cabinet         1.136          0.388          -1.355         0              0              0
  76  Cabinet         -0.356         0.383          2.626          0              0              0
  77  Cabinet         2.745          2.220          -1.690         0              0              0
  78  Cabinet         1.882          0.383          1.017          0              0              0
  79  Cabinet         1.307          0.473          1.640          0              0              0
  80  Cabinet         1.892          0.383          1.006          0              0              0
  81  Cabinet         2.467          0.383          0.383          0              0              0
  82  Cabinet         2.466          0.383          -0.475         0              0              0
  83  Cabinet         2.466          0.473          0.371          0              0              0
  84  Cabinet         2.386          2.475          -1.710         0              0              0
  85  Cabinet         -0.356         0.383          1.712          0              0              0
  86  Cabinet         2.745          2.220          0.019          0              0              0
  87  Cabinet         -0.663         2.496          0.157          0              0              0
  88  Cabinet         -0.663         2.496          -0.868         0              0              0
  89  Cabinet         -0.356         0.383          0.269          0              0              0
  90  Cabinet         -0.823         2.220          1.603          0              0              0
  91  Cabinet         -0.662         2.234          0.586          0              0              0
  92  Cabinet         2.745          2.220          -0.843         0              0              0
  93  Cabinet         2.745          2.220          -0.827         0              0              0
  94  Cabinet         -0.823         2.220          2.608          0              0              0
  95  Cabinet         2.732          2.226          -1.709         0              0              0
  96  Cabinet         1.137          2.226          -1.709         0              0              0
  97  Cabinet         2.466          0.383          -0.491         0              0              0
  98  Cabinet         2.466          0.383          -1.339         0              0              0
  99  StoveBurner     1.761          1.018          -1.599         0              0              0
 100  Fridge          -0.908         0.0            -0.405         0              0              0
 101  HousePlant      2.517          1.016          1.822          0              0              0
 102  Microwave       1.939          1.745          -1.826         0              0              0
 103  StoveKnob       2.017          1.041          -1.514         0              180            180
 104  StoveKnob       1.934          1.041          -1.514         0              180            180
 105  StoveKnob       2.017          1.041          -1.589         0              180            180
 106  StoveKnob       1.934          1.041          -1.589         0              180            180
 107  Window          1.756          1.608          4.762          90             0              0
 108  HousePlant      2.171          1.004          2.091          0              0              0
 109  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 110  LightSwitch     -0.099         1.410          -2.066         0              0              0
 111  GarbageCan      -0.951         -0.029         2.826          0              0              0
 112  Toaster         -1.007         1.018          2.238          0              90             0
 113  SinkBasin       -0.714         0.805          1.348          0              90             0
 114  Chair           1.615          0.004          4.310          0              107.976        0
 115  Faucet          -1.120         1.013          1.334          0              90             0
 116  Chair           2.759          0.004          3.086          0              358.967        0
 117
 118  NorthWall
 119  EastWall
 120  SouthWall
 121  WestWall

Plan:
STEP 1: turn right towards the shelf on the coffee maker | STEP 2: pick up the mug from the shelf  | STEP 3: turn left and head for the oven | STEP 4: heat the mug in the oven | STEP 5: turn right and head for the  coffee maker | STEP 6: drop the mug under the coffee maker | END