Task: place a hot mug on 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           -1.25          0.900          -1.25          0              90             0
   1  DishSponge      -2.564         1.537          0.270          0              0              0              66
   2  DishSponge      -2.318         0.773          1.465          0              0              0              74
   3  ButterKnife     -2.455         0.910          0.931          0              90             0              71
   4  ButterKnife     -0.211         0.910          0.870          0              0              0              43
   5  Kettle          1.691          0.929          0.064          0              0              0              54
   6  Kettle          1.735          1.664          -0.550         0              0              0              63
   7  Fork            1.769          0.911          0.494          0              0              0              52
   8  Spoon           -2.538         0.912          1.230          0              0              0              71
   9  Spoon           -2.379         0.775          -0.025         0              90             0              61
  10  Spatula         -2.227         0.789          0.809          0              90             0              48
  11  Spatula         -0.471         0.925          1.540          0              0              0              43
  12  Plate           -0.341         0.913          0.423          0              0              0              43
  13  Knife           -2.287         0.798          0.391          0              90             0              60
  14  Tomato          -2.485         1.131          -0.885         0              90             0              75
  15  SoapBottle      1.855          0.913          0.406          0              0              0              52
  16  Bowl            -0.081         0.908          1.764          0              0              0              43
  17  PepperShaker    -0.471         0.905          0.870          0              0              0              43
  18  Lettuce         -2.538         0.994          1.530          0              0              0              71
  19  Apple           -2.485         1.150          -1.074         0              90             0              75
  20  Pan             0.048          0.910          1.317          0              0              0              43
  21  Knife           -2.455         0.936          0.031          0              0              0              71
  22  Apple           -2.621         0.972          0.331          0              0              0              71
  23  Bowl            -2.599         1.535          0.557          0              0              0              67
  24  Fork            -2.289         0.911          0.931          0              0              0              71
  25  Bread           -2.485         1.175          -0.602         0              90             0              75
  26  Plate           1.734          1.659          0.018          0              0              0              62
  27  Egg             1.356          0.949          -1.026         0              225            0              57
  28  Kettle          -2.638         1.539          0.846          0              0              0              56
  29  Potato          -2.420         0.631          -0.962         0              90             0              75
  30  SaltShaker      0.915          0.905          -1.808         0              0              0              53
  31  Lettuce         0.048          0.994          1.540          0              0              0              43
  32  Cup             1.248          0.916          -1.134         0              225            0              57
  33  SoapBottle      1.646          0.187          0.651          0              0              0              82
  34  Spatula         -2.348         0.788          0.486          0              270            0              60
  35  PaperTowelRoll  -0.730         1.015          0.870          0              0              0              43
  36  ButterKnife     -0.341         0.910          1.094          0              0              0              43
  37  PepperShaker    1.772          1.658          -0.694         0              0              0              63
  38  DishSponge      -2.347         0.114          -0.072         0              0              0              59
  39  Pot             -2.289         0.914          0.331          0              0              0              71
  40  Spoon           1.461          0.923          -1.131         0              45             0              57
  41  Tomato          -2.621         0.953          0.631          0              0              0              71
  42  Mug             -2.439         1.295          -1.074         0              90             0              75
  43  CounterTop      -0.360         0.946          1.093          0              0              0
  44  StoveBurner     1.412          0.923          -0.335         0              0              0
  45  StoveKnob       1.878          1.093          0.018          287.989        90             0
  46  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  47  Cabinet         -2.446         1.948          2.924          0              0              0
  48  Drawer          -2.276         0.792          0.902          0              0              0
  49  Cabinet         -2.145         0.402          1.578          0              0              0
  50  Cabinet         0.149          2.008          -1.603         0              90             0
  51  StoveBurner     1.691          0.923          -0.335         0              0              0
  52  CounterTop      1.585          0.946          0.405          0              0              0
  53  CounterTop      0.474          0.946          -1.625         0              0              0
  54  StoveBurner     1.691          0.923          0.064          0              0              0
  55  Cabinet         -2.446         1.948          1.687          0              0              0
  56  Cabinet         -2.446         1.948          1.640          0              0              0
  57  Sink            1.381          0.810          -1.271         0              225            0
  58  StoveKnob       1.878          1.093          0.150          287.989        90             0
  59  Cabinet         -2.145         0.402          -0.236         0              0              0
  60  Drawer          -2.276         0.792          0.437          0              0              0
  61  Drawer          -2.276         0.792          -0.027         0              0              0
  62  Cabinet         1.572          2.008          0.474          0              0              0
  63  Cabinet         1.572          2.008          -0.775         0              0              0
  64  Cabinet         -2.445         2.148          -1.275         0              0              0
  65  Cabinet         -2.446         2.148          -0.284         0              0              0
  66  Cabinet         -2.446         1.948          0.355          0              0              0
  67  Cabinet         -2.446         1.948          0.405          0              0              0
  68  Cabinet         -2.145         0.402          0.644          0              0              0
  69  Cabinet         -2.145         0.402          0.695          0              0              0
  70  Cabinet         -2.285         1.968          -1.325         0              180            0
  71  CounterTop      -1.485         0.946          1.319          0              0              0
  72  StoveBurner     1.411          0.923          0.064          0              0              0
  73  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  74  Drawer          -2.276         0.792          1.368          0              0              0
  75  Fridge          -2.475         0.0            -0.782         0              90             0
  76  LightSwitch     -0.929         1.350          -1.950         0              0              0
  77  Toaster         -2.564         0.900          1.876          0              90             0
  78  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  79  Window          1.508          1.534          -1.496         90             135            0
  80  Window          1.973          1.521          1.121          90             90             0
  81  SinkBasin       1.149          0.753          -1.380         0              225            0
  82  GarbageCan      1.646          -0.000         0.679          0              0              0
  83  Microwave       -2.580         0.900          2.440          0              90             0
  84  Stool           0.439          0.010          0.747          0              0              0
  85  Stool           -2.303         0.010          1.839          0              0              0
  86  Faucet          1.235          1.138          -1.473         0              225            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: turn around and head for the refrigerator | STEP 2: open the refrigerator and take out a white mug | STEP 3: turn right and head towards the wall and then left towards the microwave oven | STEP 4: place the mug in the microwave oven, heat for some time and take it out | STEP 5: turn around towards the door and then right towards the coffee maker. | STEP 6: place the mug on the coffee maker | END