Task: heat mug in the oven

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          2.25           0              180            0
   1  ButterKnife     1.757          0.910          1.092          0              90             0              35
   2  Pot             1.807          0.909          -0.320         0              180            0              37
   3  Pot             1.757          0.911          0.827          0              180            0              35
   4  Spatula         1.684          0.925          0.363          0              90             0              35
   5  Knife           0.988          0.943          1.004          0              90             0              35
   6  Bowl            1.805          1.652          -0.353         0              0              0              46
   7  Bowl            1.805          1.631          -0.755         0              0              0              47
   8  SaltShaker      1.917          0.905          0.415          0              90             0              35
   9  PepperShaker    1.529          0.905          0.622          0              90             0              35
  10  Mug             1.805          2.132          0.767          0              0              0              43
  11  Apple           1.739          0.127          1.636          0              270            0              53
  12  Apple           1.726          0.968          -1.460         0              90             0              39
  13  Plate           1.802          1.647          -0.000         0              0              0              45
  14  SoapBottle      1.607          0.908          0.363          0              90             0              35
  15  Cup             -0.838         0.748          -1.664         0              0              0              62
  16  Egg             1.839          0.945          0.311          0              90             0              35
  17  Fork            1.726          0.911          -1.545         0              180            0              39
  18  Ladle           1.805          1.679          -1.378         0              0              0              48
  19  Apple           1.501          0.967          1.180          0              90             0              35
  20  SaltShaker      0.988          0.905          1.269          0              90             0              35
  21  Pan             1.281          0.900          1.190          0              0              0              35
  22  Tomato          0.159          0.975          -1.263         0              90             0              39
  23  Spatula         1.032          0.775          -1.488         0              270            0              54
  24  Potato          1.865          0.951          -1.288         0              90             0              39
  25  Knife           1.684          0.943          0.570          0              180            0              35
  26  ButterKnife     0.296          0.9            -1.296         0              14.568         0              39
  27  Bread           0.732          0.987          0.739          0              90             0              35
  28  Lettuce         1.726          1.011          -1.717         0              90             0              39
  29  PepperShaker    1.844          1.634          0.599          0              0              0              44
  30  Pot             1.543          0.909          -0.320         0              90             0              38
  31  DishSponge      0.220          0.910          1.092          0              90             0              35
  32  Spoon           0.963          0.761          -1.654         0              0              0              54
  33  Bowl            -0.741         1.387          -1.594         0              0              0              62
  34  Mug             0.502          0.940          -1.460         0              0              0              61
  35  CounterTop      0.989          0.946          1.016          0              90             0
  36  StoveBurner     1.807          0.907          0.075          0              180            0
  37  StoveBurner     1.807          0.907          -0.320         0              180            0
  38  StoveBurner     1.543          0.907          -0.320         0              90             0
  39  CounterTop      0.989          0.946          -1.516         0              90             0
  40  Sink            1.100          0.906          -1.599         0              0              0
  41  StoveBurner     1.548          0.907          0.075          0              180            0
  42  Cabinet         1.658          2.299          1.313          0              0              0
  43  Cabinet         1.658          2.299          0.686          0              0              0
  44  Cabinet         1.658          2.049          0.673          0              0              0
  45  Cabinet         1.658          2.059          0.193          0              0              0
  46  Cabinet         1.658          2.059          -0.593         0              0              0
  47  Cabinet         1.658          2.049          -0.606         0              0              0
  48  Cabinet         1.658          2.049          -1.206         0              0              0
  49  Cabinet         1.658          2.049          -1.893         0              0              0
  50  Toaster         0.131          0.900          -1.589         0              0              0
  51  Window          -0.372         1.588          3.349          90             0              0
  52  Window          0.782          1.741          -1.893         90             0              0
  53  GarbageCan      1.770          -0.029         1.685          0              270            0
  54  SinkBasin       1.091          0.740          -1.599         0              0              0
  55  StoveKnob       1.364          0.821          0.086          48.421         270            0
  56  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  57  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  58  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  59  Microwave       1.752          0.900          -0.843         0              270            0
  60  LightSwitch     2.0            1.261          3.094          0              270            0
  61  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  62  Fridge          -0.533         0.0            -1.554         0              0              0
  63  Chair           1.068          0.000          1.752          0              191.622        0
  64  Faucet          1.110          1.138          -1.764         0              270            0
  65  Chair           0.357          0.000          1.710          0              178.899        0
  66  NorthWall
  67  EastWall
  68  SouthWall
  69  WestWall

Plan:
STEP 1: move straight towards the wall, turn left and locate the coffee maker | STEP 2: take out the mug from the coffee maker | STEP 3: turn left and locate the microwave oven | STEP 4: put the mug in the oven to heat for five minutes | STEP 5: take out the mug from the oven turn right and head back for the coffee maker | STEP 6: place the mug back on the coffee maker | END