Task: Put a warm coffee 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           -0.75          0.901          1.75           0              90             0
   1  Potato          -0.138         1.044          0.140          0              0              0              71
   2  Potato          -2.888         1.212          4.278          0              90             0              69
   3  ButterKnife     -1.770         0.928          0.433          0              0              0              52
   4  Spoon           -2.170         0.929          0.348          0              90             0              52
   5  Fork            -0.572         0.901          3.535          0              0              0              75
   6  Pot             -0.535         0.928          4.274          0              0              0              56
   7  Egg             -2.900         0.087          0.368          0              26.101         0              66
   8  Cup             -2.686         0.900          2.045          0              0              0              73
   9  Cup             -2.480         0.900          2.441          0              0              0              73
  10  Plate           -2.191         1.777          0.205          0              0              0              48
  11  Knife           -0.228         0.926          2.530          0              0              0              75
  12  SoapBottle      -2.480         0.900          2.573          0              0              0              73
  13  Tomato          -2.789         0.964          2.309          0              0              0              73
  14  Tomato          -2.738         0.362          4.204          0              90             0              69
  15  SaltShaker      -2.995         0.896          2.177          0              0              0              73
  16  Lettuce         -0.400         0.980          2.731          0              180            0              75
  17  Mug             -2.805         1.181          4.575          0              90             0              69
  18  Apple           -0.244         1.079          0.140          0              0              0              71
  19  Apple           -0.572         0.956          2.329          0              0              0              75
  20  Egg             -2.995         0.933          2.441          0              0              0              73
  21  Plate           -0.228         0.904          2.329          0              0              0              75
  22  Fork            -2.628         0.936          3.673          0              0              0              59
  23  Bread           -2.864         0.940          1.983          0              0              0              73
  24  Apple           -2.437         0.984          0.433          0              0              0              52
  25  Lettuce         -2.583         0.980          2.309          0              0              0              73
  26  Spatula         -1.904         0.943          0.602          0              0              0              52
  27  Knife           -2.706         0.961          3.302          0              90             0              59
  28  Potato          -0.400         0.926          3.334          0              0              0              75
  29  Tomato          -2.747         0.117          0.335          0              26.101         0              66
  30  Cup             -0.403         1.023          0.235          0              0              0              71
  31  SaltShaker      -2.269         0.658          0.464          0              0              0              60
  32  PepperShaker    -0.164         0.658          0.409          0              0              0              41
  33  ButterKnife     -2.480         0.900          1.913          0              0              0              73
  34  SoapBottle      -0.657         0.900          3.334          0              0              0              75
  35  Pan             -0.250         0.926          4.651          0              0              0              54
  36  DishSponge      -2.411         1.773          0.114          0              0              0              48
  37  Pot             -0.228         0.900          3.133          0              90             0              75
  38  Spoon           -0.572         0.901          3.334          0              180            0              75
  39  Mug             -0.921         0.790          0.447          0              0              0              70
  40  Bowl            -2.831         0.295          4.427          0              90             0              69
  41  Drawer          -0.325         0.696          0.413          0              0              0
  42  Cabinet         -0.595         0.490          0.648          0              0              0
  43  Cabinet         -0.555         0.490          0.646          0              0              0
  44  Cabinet         -1.591         0.490          0.646          0              0              0
  45  Cabinet         -1.554         0.490          0.646          0              0              0
  46  Cabinet         -2.550         0.490          0.646          0              0              0
  47  Cabinet         -1.514         2.046          0.392          0              0              0
  48  Cabinet         -2.474         2.046          0.392          0              0              0
  49  Cabinet         -1.478         2.046          0.392          0              0              0
  50  Cabinet         -0.518         2.046          0.392          0              0              0
  51  Cabinet         -0.479         2.046          0.392          0              0              0
  52  CounterTop      -1.366         0.952          0.349          0              0              0
  53  Sink            -1.108         0.926          0.340          0              0              0
  54  StoveBurner     -0.254         0.922          4.672          0              0              0
  55  Drawer          -1.824         0.696          0.413          0              0              0
  56  StoveBurner     -0.535         0.922          4.274          0              0              0
  57  StoveBurner     -0.254         0.922          4.274          0              0              0
  58  StoveBurner     -0.536         0.922          4.672          0              0              0
  59  CounterTop      -2.780         0.971          3.487          0              0              0
  60  Drawer          -2.323         0.696          0.413          0              0              0
  61  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  65  Toaster         -0.286         0.861          3.520          0              270            0
  66  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  67  LightSwitch     -0.064         1.447          1.996          0              270            0
  68  Window          -3.075         1.593          1.361          90             90             0
  69  Fridge          -2.802         0.0            4.427          0              0              0
  70  SinkBasin       -1.106         0.785          0.337          0              0              0
  71  Microwave       -0.358         0.917          0.224          0              0              0
  72  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  73  DiningTable     -2.733         -0.003         2.607          0              270            0
  74  Faucet          -1.077         0.920          0.028          270            270            0
  75  DiningTable     -0.488         -0.003         3.182          0              270            0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Turn around and take a step then turn right and walk to the wall then turn left and walk to the fridge. | STEP 2: Get the mug out of the freezer and close the door. | STEP 3: Turn left and walk to the counter then turn left and walk to the left edge of the sink and turn right to face the space between the sink and the microwave. | STEP 4: Warm the mug up in the microwave and then take it back out and close the door. | STEP 5: Turn right and take a step then turn right and walk until you're even with the coffee maker on your right then turn left and walk to it. | STEP 6: Put the warm mug under the coffee makers spout. | END