Task: Put a warmed mug under a 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           0.5            0.900          1.25           0              270            0
   1  Potato          -0.255         0.733          -1.520         0              270            0              89
   2  Potato          -1.378         0.948          -1.674         0              0              0              60
   3  Book            -1.888         1.654          -1.710         0              0              0              73
   4  Book            -2.996         0.875          3.296          0              270            0              62
   5  DishSponge      -2.321         0.878          3.221          0              270            0              62
   6  DishSponge      -1.388         1.657          -1.784         0              0              0              73
   7  WineBottle      -1.614         1.658          -1.784         0              0              0              73
   8  Spatula         -1.738         0.927          0.037          0              0              0              60
   9  Spoon           0.014          0.929          -1.429         0              90             0              57
  10  Spoon           -2.148         0.719          -1.716         0              270            0              79
  11  Egg             -0.263         0.414          2.112          0              180            0              85
  12  Cup             3.793          0.551          1.345          0              270            0              83
  13  Cup             -0.263         0.387          2.025          0              180            0              85
  14  Plate           -1.516         0.916          -1.265         0              0              0              60
  15  Plate           0.307          0.393          2.025          0              180            0              85
  16  SoapBottle      -0.040         0.929          -1.501         0              270            0              57
  17  SoapBottle      -2.353         0.875          2.811          0              135            0              62
  18  Bowl            -1.649         0.117          -0.916         0              0              0              65
  19  SaltShaker      -1.378         0.908          -1.572         0              0              0              60
  20  SaltShaker      -2.058         1.653          -1.600         0              0              0              73
  21  Bread           -2.405         0.961          3.685          0              225            0              62
  22  Lettuce         -2.436         0.943          3.390          0              0              0              62
  23  Lettuce         -2.845         0.939          3.513          0              135            0              62
  24  Mug             -0.035         1.567          2.040          0              180            0              85
  25  Mug             0.549          0.111          -1.333         0              0              0              68
  26  Mug             -0.403         0.116          -1.333         0              0              0              69
  27  Apple           -2.539         0.929          3.102          0              135            0              62
  28  Book            -2.183         0.908          -0.939         0              0              0              60
  29  Fork            -0.367         0.708          -1.573         0              270            0              89
  30  Tomato          -0.263         0.850          2.080          0              180            0              85
  31  Egg             -0.263         0.828          2.251          0              180            0              85
  32  Kettle          0.617          0.913          -1.471         0              270            0              60
  33  Vase            3.671          0.168          1.841          0              0              0              83
  34  Cup             0.179          0.927          -1.573         0              270            0              57
  35  WineBottle      1.651          0.911          -1.346         0              0              0              80
  36  Plate           -2.793         0.882          2.878          0              225            0              62
  37  Spatula         -3.165         0.889          3.147          0              270            0              62
  38  Potato          0.069          0.965          -1.646         0              270            0              57
  39  Pot             3.741          0.555          1.864          0              270            0              83
  40  Knife           -1.961         0.934          0.037          0              0              0              60
  41  SaltShaker      1.687          0.906          -1.437         0              0              0              80
  42  PepperShaker    -1.331         1.653          -1.674         0              0              0              73
  43  Lettuce         -0.263         1.208          2.206          0              180            0              85
  44  ButterKnife     -1.269         0.912          -1.267         0              180            0              60
  45  Bread           0.571          0.995          -1.776         0              0              0              60
  46  Vase            -2.088         0.120          -1.653         0              0              0              61
  47  DishSponge      -1.616         0.719          -0.788         0              0              0              75
  48  Apple           1.210          1.816          -1.596         0              0              0              84
  49  Pan             0.974          0.957          -1.688         0              180            0              59
  50  Spoon           -0.292         0.698          -1.678         0              0              0              89
  51  SoapBottle      -0.897         0.193          2.174          0              90             0              90
  52  Mug             0.700          1.648          -1.749         0              0              0              71
  53  Statue          -1.627         0.919          0.363          0              0              0              60
  54  Statue          -2.072         0.910          -1.591         0              0              0              60
  55  Bowl            -2.152         0.876          3.370          0              270            0              62
  56  Cabinet         -2.171         2.009          -1.538         0              0              0
  57  Sink            0.024          0.771          -1.708         0              270            0
  58  Cabinet         1.444          2.259          -1.542         0              0              0
  59  StoveBurner     0.974          0.957          -1.688         0              180            0
  60  CounterTop      -1.866         0.947          -0.614         0              0              0
  61  Cabinet         -2.217         0.373          -1.874         0              0              0
  62  DiningTable     -2.663         0.002          3.208          0              0              0
  63  StoveBurner     1.328          0.957          -1.688         0              180            0
  64  StoveBurner     1.328          0.957          -1.420         0              180            0
  65  Cabinet         -1.478         0.373          -1.235         0              0              0
  66  Cabinet         1.775          0.372          -1.242         0              0              0
  67  Cabinet         0.774          0.372          -1.242         0              0              0
  68  Cabinet         0.375          0.372          -1.242         0              0              0
  69  Cabinet         -0.574         0.372          -1.238         0              0              0
  70  Cabinet         1.775          2.009          -1.542         0              0              0
  71  Cabinet         0.524          2.009          -1.542         0              0              0
  72  Cabinet         -0.714         2.009          -1.542         0              0              0
  73  Cabinet         -1.671         2.009          -1.538         0              0              0
  74  Cabinet         0.854          2.259          -1.542         0              0              0
  75  Drawer          -1.636         0.683          -0.930         0              0              0
  76  Drawer          1.650          0.682          -1.396         0              0              0
  77  Drawer          0.600          0.682          -1.396         0              0              0
  78  StoveBurner     0.974          0.957          -1.419         0              180            0
  79  Drawer          -2.062         0.683          -1.579         0              0              0
  80  CounterTop      1.645          0.945          -1.527         0              0              0
  81  Shelf           3.725          0.880          1.671          0              90             0
  82  LightSwitch     2.830          1.266          -0.748         0              0              0
  83  Shelf           3.726          0.552          1.671          0              90             0
  84  Microwave       1.150          1.655          -1.614         0              0              0
  85  Fridge          -0.035         0.0            2.177          0              180            0
  86  Window          -0.115         1.802          -1.896         90             0              0
  87  Window          -4.009         1.799          0.310          90             90             0
  88  Shelf           3.726          0.172          1.671          0              90             0
  89  SinkBasin       -0.330         0.686          -1.581         0              270            0
  90  GarbageCan      -0.870         -0.001         2.136          0              90             0
  91  StoveKnob       1.089          0.913          -1.243         45             0              0
  92  StoveKnob       1.208          0.913          -1.243         45             0              0
  93  StoveKnob       1.340          0.913          -1.243         45             0              0
  94  StoveKnob       0.961          0.913          -1.243         45             0              0
  95  Toaster         1.637          0.900          -1.673         0              0              0
  96  Chair           -3.505         0.002          3.290          0              105.736        0
  97  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  98  HousePlant      -2.663         0.835          3.209          0              0              0
  99  Faucet          -0.187         0.922          -1.75          0              311.166        0
 100  ShelvingUnit    3.726          0.006          1.671          0              90             0
 101  Stool           -2.501         -0.000         0.062          1.223          91.243         0
 102  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 103  Chair           -2.934         0.002          2.437          0              28.531         0
 104  Chair           -1.698         0.002          3.235          0              245.204        0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Go left and face the cabinet to the right of the microwave. | STEP 2: Take the mug out of the cabinet to the right of the microwave and shut the door. | STEP 3: Move to the left and face the microwave. | STEP 4: Put the mug in the microwave and shut the door and then open the door and take the mug out again. | STEP 5: Go right and then turn to the left to face the coffee maker on the counter. | STEP 6: Put the mug under the coffee maker on the counter. | END