Task: Put the heated mug on 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           -3.75          0.899          3.25           0              90             0
   1  Pencil          -3.772         0.747          5.162          0              180            0              77
   2  Potato          -0.259         1.369          3.355          0              270            0              107
   3  WineBottle      -0.565         0.926          6.591          0              0              0              59
   4  WineBottle      -3.639         0.069          6.333          0              270            0              100
   5  Pot             -2.924         0.930          1.712          0              180            0              71
   6  Fork            -0.181         0.925          5.932          0              0              0              59
   7  Fork            -4.184         0.924          5.159          0              90             0              74
   8  Spoon           -2.026         0.924          1.8            0              0              0              56
   9  Spatula         -3.613         0.938          5.182          0              90             0              74
  10  Cup             -2.026         0.922          1.951          0              0              0              56
  11  Egg             -2.635         1.582          1.666          0              0              0              104
  12  Egg             -0.508         1.106          3.850          0              270            0              107
  13  Plate           -3.925         1.459          5.475          0              90             0              78
  14  Knife           -4.312         0.953          2.300          0              90             0              74
  15  Knife           -1.610         0.953          1.648          0              90             0              56
  16  Tomato          -0.259         1.392          3.602          0              270            0              107
  17  Bowl            -4.196         0.787          3.222          0              270            0              106
  18  SaltShaker      -3.296         1.449          1.638          0              0              0              48
  19  PepperShaker    -2.026         0.919          1.648          0              0              0              56
  20  PepperShaker    -4.066         0.741          4.585          0              90             0              81
  21  Bread           -0.258         1.004          4.944          0              0              0              59
  22  Bread           -0.348         1.150          3.479          0              270            0              107
  23  Apple           -0.342         1.739          3.975          0              270            0              107
  24  Egg             -4.478         0.959          3.082          0              0              0              74
  25  Apple           -3.784         0.122          6.292          0              270            0              100
  26  Knife           -0.411         0.954          4.944          0              0              0              59
  27  Potato          -0.259         1.719          3.854          0              270            0              107
  28  Fork            -0.334         0.925          4.615          0              0              0              59
  29  Bowl            -0.342         1.577          3.349          0              270            0              107
  30  Plate           -0.301         1.336          3.850          0              270            0              107
  31  Lettuce         -4.335         1.018          5.159          0              90             0              74
  32  Bread           -1.860         1.003          1.8            0              0              0              56
  33  Tomato          -4.411         0.980          4.122          0              90             0              74
  34  WineBottle      -4.064         0.084          3.175          0              0              0              87
  35  Spatula         -3.135         0.938          5.336          0              270            0              74
  36  PaperTowelRoll  -0.411         1.029          5.932          0              0              0              108
  37  Cup             -3.135         0.922          5.182          0              90             0              74
  38  Pencil          -3.307         0.747          1.986          0              0              0              80
  39  Pan             -2.469         0.930          1.712          0              270            0              89
  40  Pot             -2.924         0.930          2.012          0              0              0              57
  41  SaltShaker      -1.693         0.919          1.724          0              0              0              56
  42  SoapBottle      -4.486         0.923          5.418          0              90             0              74
  43  PepperShaker    -0.473         0.743          4.849          0              270            0              64
  44  ButterKnife     -0.488         0.925          5.603          0              0              0              59
  45  DishSponge      -3.748         1.458          5.511          0              90             0              78
  46  Spoon           -4.196         0.792          3.410          0              270            0              106
  47  Mug             -0.409         0.955          6.557          0              270            0              95
  48  Cabinet         -3.203         1.931          1.777          0              0              0
  49  Cabinet         -3.187         0.390          2.089          0              0              0
  50  Cabinet         -0.637         0.387          6.882          0              180            0
  51  Drawer          -3.797         0.781          1.961          0              0              0
  52  Cabinet         -3.036         0.387          5.029          0              90             0
  53  Drawer          -0.509         0.775          5.268          0              270            0
  54  Drawer          -4.125         0.798          2.499          0              0              0
  55  Cabinet         -0.331         2.249          4.308          0              180            0
  56  CounterTop      -1.872         0.958          1.799          0              0              0
  57  StoveBurner     -2.924         0.924          2.012          0              0              0
  58  Cabinet         -0.331         2.249          6.806          0              180            0
  59  CounterTop      -0.345         0.960          5.603          0              0              0
  60  Cabinet         -3.039         1.935          5.321          0              90             0
  61  Cabinet         -3.922         0.397          2.088          0              0              0
  62  StoveBurner     -2.467         0.924          2.012          0              0              0
  63  Cabinet         -0.331         2.249          5.505          0              180            0
  64  Drawer          -0.509         0.775          4.617          0              270            0
  65  Drawer          -3.509         0.777          5.157          0              180            0
  66  Cabinet         -3.961         0.388          2.878          0              0              0
  67  Cabinet         -3.961         0.388          4.342          0              0              0
  68  Cabinet         -0.637         0.387          5.582          0              180            0
  69  Cabinet         -0.637         0.388          4.299          0              180            0
  70  Cabinet         -0.637         0.388          5.599          0              180            0
  71  StoveBurner     -2.924         0.924          1.712          0              180            0
  72  Drawer          -1.859         0.775          1.961          0              0              0
  73  Cabinet         -0.331         2.249          5.609          0              180            0
  74  CounterTop      -4.260         0.958          4.943          0              90             0
  75  Cabinet         -4.284         1.931          2.226          0              0              0
  76  Cabinet         -0.331         2.249          3.010          0              180            0
  77  Drawer          -3.801         0.777          5.157          0              180            0
  78  Cabinet         -4.112         1.935          5.321          0              90             0
  79  Cabinet         -3.968         0.388          3.662          0              0              0
  80  Drawer          -3.418         0.777          1.961          0              0              0
  81  Drawer          -4.090         0.777          4.661          0              90             0
  82  Faucet          -4.441         0.909          3.288          270            0              0
  83  Cabinet         -0.331         2.249          4.207          0              180            0
  84  Cabinet         -3.961         0.388          2.119          0              0              0
  85  Drawer          -0.509         0.775          5.920          0              270            0
  86  Drawer          -3.193         0.777          5.157          0              180            0
  87  Cabinet         -3.968         0.388          2.894          0              0              0
  88  Cabinet         -3.667         0.387          5.029          0              90             0
  89  StoveBurner     -2.469         0.924          1.712          0              270            0
  90  Cabinet         -1.539         0.388          2.090          0              0              0
  91  Sink            -4.190         0.921          3.279          0              0              0
  92  Cabinet         -3.641         0.387          5.029          0              90             0
  93  Cabinet         -1.583         1.931          1.777          0              0              0
  94  Drawer          -0.509         0.775          6.568          0              270            0
  95  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  96  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  97  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  98  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  99  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 100  GarbageCan      -3.711         -0.030         6.376          0              270            0
 101  Toaster         -3.578         0.912          1.763          0              0              0
 102  Curtains        -4.522         2.252          3.391          90             90             0
 103  Window          -4.868         1.629          3.309          90             270            0
 104  Microwave       -2.693         1.430          1.689          0              0              0
 105  LightSwitch     -1.588         1.169          1.506          0              0              0
 106  SinkBasin       -4.196         0.780          3.276          0              270            0
 107  Fridge          -0.324         -0.001         3.602          0              0              0
 108
 109  NorthWall
 110  EastWall
 111  SouthWall
 112  WestWall

Plan:
STEP 1: Turn left then walk across the room head to the coffee maker | STEP 2: Pick up the mug on the coffee maker | STEP 3: Turn right then walk straight, turn left head to the microwave | STEP 4: Open the microwave heat the mug, take it out, close the microwave | STEP 5: Turn left walk forward then turn right facing the coffee maker | STEP 6: Put the mug on the coffee maker | END