Task: Put a heated mug in a coffeemaker

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.899          4.75           0              180            0
   1  Potato          -0.181         0.958          4.615          0              0              0              60
   2  Potato          -4.159         0.824          3.159          0              270            0              107
   3  DishSponge      -4.171         0.753          2.501          0              0              0              55
   4  DishSponge      -4.172         0.923          2.300          0              0              0              75
   5  WineBottle      -2.109         0.924          1.573          0              0              0              57
   6  Pot             -2.924         0.930          1.712          0              180            0              72
   7  Cup             -3.539         0.081          5.113          0              90             0              93
   8  Egg             -3.639         0.104          6.498          0              270            0              101
   9  Plate           -2.026         0.924          1.724          0              0              0              57
  10  Plate           -3.494         0.924          5.336          0              90             0              75
  11  Knife           -0.334         0.954          5.273          0              180            0              60
  12  Knife           -1.610         0.953          1.875          0              90             0              57
  13  SoapBottle      -3.866         1.458          5.475          0              90             0              79
  14  SoapBottle      -3.639         0.068          6.333          0              270            0              101
  15  Tomato          -4.271         0.848          3.347          0              270            0              107
  16  SaltShaker      -4.486         0.919          4.640          0              90             0              75
  17  SaltShaker      -0.443         0.743          6.645          0              270            0              86
  18  PepperShaker    -2.026         0.919          1.573          0              0              0              57
  19  PepperShaker    -0.181         0.921          5.932          0              0              0              60
  20  Bread           -0.295         1.150          3.726          0              270            0              108
  21  Bread           -0.411         1.004          5.273          0              0              0              60
  22  Mug             -4.159         0.785          3.472          0              270            0              107
  23  Mug             -0.259         1.330          3.974          0              270            0              108
  24  Apple           -2.530         1.599          1.601          0              0              0              105
  25  Egg             -3.494         0.959          5.106          0              90             0              75
  26  Apple           -2.635         1.599          1.633          0              0              0              105
  27  Knife           -0.334         0.954          5.603          0              0              0              60
  28  Potato          -0.565         0.958          5.273          0              0              0              60
  29  Fork            -4.517         0.924          3.315          0              90             0              75
  30  Bowl            -0.259         1.682          3.975          0              270            0              108
  31  Plate           -2.026         0.924          1.951          0              0              0              57
  32  Lettuce         -0.301         1.431          3.479          0              270            0              108
  33  Bread           -1.777         1.003          1.8            0              0              0              57
  34  Tomato          -0.342         1.637          3.349          0              270            0              108
  35  WineBottle      -3.784         0.069          6.333          0              270            0              101
  36  Spatula         -4.108         0.938          4.381          0              90             0              75
  37  PaperTowelRoll  -4.184         1.027          5.159          0              90             0              75
  38  Cup             -3.255         0.922          5.106          0              90             0              75
  39  Pencil          -1.704         0.746          1.926          0              0              0              73
  40  Pan             -2.454         0.933          2.023          0              240.000        0              63
  41  Pot             -2.924         0.930          2.012          0              0              0              58
  42  SaltShaker      -0.242         2.130          5.299          0              180            0              64
  43  SoapBottle      -3.712         0.068          6.457          0              270            0              101
  44  PepperShaker    -0.104         0.921          5.932          0              0              0              60
  45  ButterKnife     -0.181         0.925          4.944          0              0              0              60
  46  DishSponge      -0.258         0.924          4.944          0              0              0              60
  47  Spoon           -1.860         0.924          1.724          0              0              0              57
  48  Mug             -3.859         0.918          1.951          0              0              0              75
  49  Cabinet         -3.203         1.931          1.777          0              0              0
  50  Cabinet         -3.187         0.390          2.089          0              0              0
  51  Cabinet         -0.637         0.387          6.882          0              180            0
  52  Drawer          -3.797         0.781          1.961          0              0              0
  53  Cabinet         -3.036         0.387          5.029          0              90             0
  54  Drawer          -0.509         0.775          5.268          0              270            0
  55  Drawer          -4.125         0.798          2.499          0              0              0
  56  Cabinet         -0.331         2.249          4.308          0              180            0
  57  CounterTop      -1.872         0.958          1.799          0              0              0
  58  StoveBurner     -2.924         0.924          2.012          0              0              0
  59  Cabinet         -0.331         2.249          6.806          0              180            0
  60  CounterTop      -0.345         0.960          5.603          0              0              0
  61  Cabinet         -3.039         1.935          5.321          0              90             0
  62  Cabinet         -3.922         0.397          2.088          0              0              0
  63  StoveBurner     -2.467         0.924          2.012          0              0              0
  64  Cabinet         -0.331         2.249          5.505          0              180            0
  65  Drawer          -0.509         0.775          4.617          0              270            0
  66  Drawer          -3.509         0.777          5.157          0              180            0
  67  Cabinet         -3.961         0.388          2.878          0              0              0
  68  Cabinet         -3.961         0.388          4.342          0              0              0
  69  Cabinet         -0.637         0.387          5.582          0              180            0
  70  Cabinet         -0.637         0.388          4.299          0              180            0
  71  Cabinet         -0.637         0.388          5.599          0              180            0
  72  StoveBurner     -2.924         0.924          1.712          0              180            0
  73  Drawer          -1.859         0.775          1.961          0              0              0
  74  Cabinet         -0.331         2.249          5.609          0              180            0
  75  CounterTop      -4.260         0.958          4.943          0              90             0
  76  Cabinet         -4.284         1.931          2.226          0              0              0
  77  Cabinet         -0.331         2.249          3.010          0              180            0
  78  Drawer          -3.801         0.777          5.157          0              180            0
  79  Cabinet         -4.112         1.935          5.321          0              90             0
  80  Cabinet         -3.968         0.388          3.662          0              0              0
  81  Drawer          -3.418         0.777          1.961          0              0              0
  82  Drawer          -4.090         0.777          4.661          0              90             0
  83  Faucet          -4.441         0.909          3.288          270            0              0
  84  Cabinet         -0.331         2.249          4.207          0              180            0
  85  Cabinet         -3.961         0.388          2.119          0              0              0
  86  Drawer          -0.509         0.775          5.920          0              270            0
  87  Drawer          -3.193         0.777          5.157          0              180            0
  88  Cabinet         -3.968         0.388          2.894          0              0              0
  89  Cabinet         -3.667         0.387          5.029          0              90             0
  90  StoveBurner     -2.469         0.924          1.712          0              270            0
  91  Cabinet         -1.539         0.388          2.090          0              0              0
  92  Sink            -4.190         0.921          3.279          0              0              0
  93  Cabinet         -3.641         0.387          5.029          0              90             0
  94  Cabinet         -1.583         1.931          1.777          0              0              0
  95  Drawer          -0.509         0.775          6.568          0              270            0
  96  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  97  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  98  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  99  StoveKnob       -2.965         1.095          1.560          288.012        180            180
 100  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 101  GarbageCan      -3.711         -0.030         6.376          0              270            0
 102  Toaster         -3.578         0.912          1.763          0              0              0
 103  Curtains        -4.522         2.252          3.391          90             90             0
 104  Window          -4.868         1.629          3.309          90             270            0
 105  Microwave       -2.693         1.430          1.689          0              0              0
 106  LightSwitch     -1.588         1.169          1.506          0              0              0
 107  SinkBasin       -4.196         0.780          3.276          0              270            0
 108  Fridge          -0.324         -0.001         3.602          0              0              0
 109  NorthWall
 110  EastWall
 111  SouthWall
 112  WestWall

Plan:
STEP 1: Go to the toaster | STEP 2: Pick up the mug next to the toaster | STEP 3: Go to the microwave | STEP 4: Heat the mug | STEP 5: Go to the coffeemaker | STEP 6: Put the mug in the coffemaker | END