Task: Put a heated mug in 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           -2.5           0.900          -1.75          0              180            0
   1  DishSponge      -0.547         0.813          -3.318         0              315            0              75
   2  ButterKnife     -2.560         0.894          -0.376         0              270            0              83
   3  Fork            -2.761         0.895          -0.204         0              270            0              83
   4  Fork            -4.182         0.691          -0.491         0              180            0              81
   5  Spoon           -0.473         0.942          -1.494         0              0              0              64
   6  Spoon           -0.577         0.752          -2.632         0              270            0              51
   7  Spatula         -0.321         0.957          -2.847         0              0              0              46
   8  Spatula         -2.962         0.909          -0.376         0              270            0              83
   9  Egg             -1.248         0.983          -3.908         0              0              0              46
  10  Egg             -0.394         0.982          -1.581         0              0              0              64
  11  Cup             -3.942         0.691          -0.430         0              0              0              81
  12  Knife           -0.440         0.776          -2.792         0              90             0              51
  13  Knife           -3.163         0.920          -0.376         0              270            0              83
  14  SoapBottle      -4.242         0.688          -0.430         0              0              0              81
  15  SoapBottle      -2.452         0.097          -3.505         0              0              0              71
  16  Tomato          -3.565         0.945          -0.376         0              270            0              83
  17  Bread           -3.163         0.976          -0.204         0              270            0              83
  18  SaltShaker      -3.882         0.686          -0.187         0              0              0              81
  19  SaltShaker      -4.062         0.687          -0.369         0              0              0              81
  20  Mug             -3.586         0.755          -2.961         0              334.125        0              82
  21  Mug             -4.182         0.686          -0.126         0              0              0              81
  22  Mug             -3.612         0.755          -3.486         0              199.125        0              82
  23  Apple           -4.182         0.752          -0.308         0              0              0              81
  24  Apple           -2.359         0.956          -0.633         0              270            0              83
  25  SoapBottle      -4.062         0.689          -0.491         0              0              0              81
  26  Pot             -0.222         0.961          -1.845         0              180            0              48
  27  Fork            -3.898         0.760          -3.455         0              244.125        0              82
  28  Cup             -0.394         0.942          -1.450         0              0              0              64
  29  Tomato          -1.248         0.993          -3.439         0              0              0              46
  30  Pan             -0.217         0.958          -2.215         0              45             0              65
  31  Plate           -0.663         0.827          -3.434         0              315            0              75
  32  Bread           -3.329         0.841          -3.421         0              109.125        0              82
  33  Spatula         -3.813         0.775          -3.275         0              334.125        0              82
  34  Knife           -1.471         0.967          -3.673         0              0              0              46
  35  SaltShaker      -0.554         0.743          -1.413         0              0              0              50
  36  PepperShaker    -1.112         0.938          -3.799         0              45             0              46
  37  ButterKnife     -3.565         0.894          -0.548         0              270            0              83
  38  Apple           -2.560         0.956          -0.290         0              270            0              83
  39  DishSponge      -0.097         1.941          -0.606         0              0              0              53
  40  Potato          -2.761         0.926          -0.462         0              270            0              83
  41  Egg             -0.376         1.327          -0.297         0              270            0              76
  42  Spoon           -0.240         0.943          -3.015         0              45             0              46
  43  Lettuce         -1.100         1.017          -3.623         0              0              0              46
  44  Mug             -4.062         0.685          -0.187         0              0              0              81
  45  Bowl            -0.334         1.284          -0.529         0              270            0              76
  46  CounterTop      -1.937         0.977          -3.673         0              0              0
  47  StoveBurner     -0.437         0.924          -1.845         0              180            0
  48  StoveBurner     -0.222         0.924          -1.845         0              180            0
  49  StoveBurner     -0.437         0.924          -2.243         0              0              0
  50  Drawer          -0.500         0.779          -1.450         0              0              0
  51  Drawer          -0.481         0.777          -2.739         0              0              0
  52  Drawer          -1.154         0.782          -3.499         0              0              0
  53  Cabinet         -0.337         2.110          -0.390         0              0              0
  54  Cabinet         -0.337         2.110          -1.272         0              0              0
  55  Cabinet         -0.337         2.110          -1.631         0              0              0
  56  Cabinet         -0.337         2.110          -2.497         0              0              0
  57  Cabinet         -0.337         1.891          -1.286         0              0              0
  58  Cabinet         -0.346         1.891          -3.293         0              0              0
  59  Cabinet         -0.629         0.388          -2.513         0              0              0
  60  Cabinet         -0.633         0.388          -3.008         0              0              0
  61  Cabinet         -1.010         0.388          -3.368         0              0              0
  62  Cabinet         -0.629         0.388          -1.614         0              0              0
  63  Cabinet         -0.327         1.886          -2.513         0              0              0
  64  CounterTop      -0.326         0.976          -1.450         0              0              0
  65  StoveBurner     -0.222         0.924          -2.243         0              0              0
  66  Sink            -0.600         0.929          -3.388         0              0              0
  67  StoveKnob       -0.617         0.899          -1.833         315            90             180
  68  StoveKnob       -0.617         0.899          -2.129         315            90             180
  69  StoveKnob       -0.617         0.899          -2.289         315            90             180
  70  StoveKnob       -0.617         0.899          -1.975         315            90             180
  71  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  72  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  73  Window          -1.389         1.610          -4.113         90             0              0
  74  LightSwitch     -4.372         1.493          -1.031         0              90             0
  75  SinkBasin       -0.614         0.802          -3.384         0              315            0
  76  Fridge          -0.314         0.0            -0.646         0              0              0
  77  Toaster         -1.970         0.930          -3.763         0              0              0
  78  Microwave       -0.216         1.470          -2.054         0              270            0
  79  Blinds          -1.373         2.205          -3.961         0              0              0
  80  Faucet          -0.393         0.930          -3.614         270            225            0
  81  SideTable       -4.030         0.002          -0.301         0              185.034        0
  82  DiningTable     -3.586         0.000          -3.258         0              0              0
  83  DiningTable     -3.224         -0.003         -0.453         0              0              0
  84  Shelf           -4.030         0.259          -0.301         0              185.034        0
  85  Shelf           -4.030         0.489          -0.301         0              185.034        0
  86  EastWall
  87  EastWall
  88  SouthWall

Plan:
STEP 1: Walk over to the coffee machine on the counter, then turn right and walk up to the round black table. | STEP 2: Pick up the mug that is closest to the loaf of bread on the round table. | STEP 3: Turn right and begin walking across the room, then hang a right and walk over to the oven and look up at the microwave. | STEP 4: Microwave the mug for a couple seconds, then open the microwave and take the heated mug out of the microwave and close the door. | STEP 5: Turn around and begin walking across the room, then hang a left and walk up to the coffee machine. | STEP 6: Put the heated mug in the coffee machine on the counter. | END