Task: Heat a mug and place it back

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.25          0.900          -1.25          0              270            0
   1  Pan             -0.263         0.802          2.137          0              180            0              88
   2  Statue          -1.738         0.897          -0.613         0              0              0              63
   3  Potato          -0.292         0.733          -1.468         0              270            0              92
   4  Potato          1.578          0.946          -1.255         0              0              0              83
   5  Book            -1.516         0.908          0.363          0              0              0              63
   6  DishSponge      -0.833         0.911          -1.674         0              0              0              63
   7  Kettle          0.264          0.115          -1.451         0              0              0              71
   8  WineBottle      1.724          0.911          -1.255         0              0              0              83
   9  Pot             0.974          0.957          -1.419         0              180            0              81
  10  Fork            -0.040         0.929          -1.501         0              270            0              60
  11  Fork            -1.627         0.912          -1.591         0              0              0              63
  12  Egg             0.079          0.828          2.080          0              180            0              88
  13  Egg             0.307          0.828          2.194          0              180            0              88
  14  Cup             -3.165         0.873          3.147          0              270            0              65
  15  Cup             -0.404         0.695          -1.468         0              270            0              92
  16  Plate           -2.072         0.916          -0.288         0              0              0              63
  17  Knife           1.760          0.932          -1.709         0              90             0              83
  18  Tomato          -2.510         0.922          3.559          0              0              0              65
  19  Tomato          -3.165         0.922          2.999          0              270            0              65
  20  Bowl            -2.050         0.117          -1.580         0              0              0              64
  21  Bowl            -2.644         0.876          2.997          0              315            0              65
  22  SaltShaker      1.595          0.716          -1.344         0              0              0              79
  23  SaltShaker      -1.583         0.714          -0.717         0              0              0              78
  24  PepperShaker    1.649          0.716          -1.443         0              0              0              79
  25  PepperShaker    -2.726         0.871          3.393          0              135            0              65
  26  Bread           -2.072         0.995          -0.614         0              0              0              63
  27  Bread           -3.122         0.958          3.475          0              135            0              65
  28  Lettuce         0.079          1.637          2.040          0              180            0              88
  29  Apple           -2.659         0.929          3.728          0              0              0              65
  30  Apple           0.307          1.627          1.981          0              180            0              88
  31  Book            3.741          0.549          1.553          0              270            0              86
  32  Fork            -1.269         0.912          -1.471         0              0              0              63
  33  Tomato          -0.871         0.240          2.174          0              90             0              93
  34  Egg             -1.569         0.925          -0.425         88.348         125.574        126.919        63
  35  Kettle          -2.964         0.875          2.811          0              225            0              65
  36  Vase            3.671          0.168          1.841          0              0              0              86
  37  Cup             0.571          0.910          -1.572         0              0              0              63
  38  WineBottle      1.665          1.656          -1.709         0              0              0              73
  39  Plate           -0.149         1.148          2.206          0              180            0              88
  40  Spatula         -2.015         0.734          -1.441         0              270            0              82
  41  Potato          1.210          1.798          -1.663         0              0              0              87
  42  Pot             1.328          0.957          -1.688         0              180            0              66
  43  Knife           -2.510         0.896          3.221          0              0              0              65
  44  SaltShaker      -1.738         0.908          0.363          0              0              0              63
  45  PepperShaker    0.599          0.714          -1.343         0              0              0              80
  46  Lettuce         -2.300         0.939          2.863          0              135            0              65
  47  ButterKnife     0.124          0.928          -1.501         0              270            0              60
  48  Bread           -2.321         0.958          3.370          0              270            0              65
  49  Vase            0.549          0.117          -1.445         0              0              0              70
  50  DishSponge      -2.644         0.878          3.446          0              225            0              65
  51  Apple           -2.152         0.933          3.147          0              270            0              65
  52  Pan             -1.738         0.911          -0.288         0              0              0              63
  53  Spoon           0.069          0.931          -1.718         0              270            0              60
  54  SoapBottle      -2.793         0.875          3.565          0              135            0              65
  55  Mug             -1.112         0.958          -1.479         0              0              0              100
  56  Statue          3.743          0.887          1.656          0              270            0              84
  57  Statue          3.668          0.540          1.800          0              0              0              86
  58  Bowl            -1.627         0.910          -1.265         0              0              0              63
  59  Cabinet         -2.171         2.009          -1.538         0              0              0
  60  Sink            0.024          0.771          -1.708         0              270            0
  61  Cabinet         1.444          2.259          -1.542         0              0              0
  62  StoveBurner     0.974          0.957          -1.688         0              180            0
  63  CounterTop      -1.866         0.947          -0.614         0              0              0
  64  Cabinet         -2.217         0.373          -1.874         0              0              0
  65  DiningTable     -2.663         0.002          3.208          0              0              0
  66  StoveBurner     1.328          0.957          -1.688         0              180            0
  67  StoveBurner     1.328          0.957          -1.420         0              180            0
  68  Cabinet         -1.478         0.373          -1.235         0              0              0
  69  Cabinet         1.775          0.372          -1.242         0              0              0
  70  Cabinet         0.774          0.372          -1.242         0              0              0
  71  Cabinet         0.375          0.372          -1.242         0              0              0
  72  Cabinet         -0.574         0.372          -1.238         0              0              0
  73  Cabinet         1.775          2.009          -1.542         0              0              0
  74  Cabinet         0.524          2.009          -1.542         0              0              0
  75  Cabinet         -0.714         2.009          -1.542         0              0              0
  76  Cabinet         -1.671         2.009          -1.538         0              0              0
  77  Cabinet         0.854          2.259          -1.542         0              0              0
  78  Drawer          -1.636         0.683          -0.930         0              0              0
  79  Drawer          1.650          0.682          -1.396         0              0              0
  80  Drawer          0.600          0.682          -1.396         0              0              0
  81  StoveBurner     0.974          0.957          -1.419         0              180            0
  82  Drawer          -2.062         0.683          -1.579         0              0              0
  83  CounterTop      1.645          0.945          -1.527         0              0              0
  84  Shelf           3.725          0.880          1.671          0              90             0
  85  LightSwitch     2.830          1.266          -0.748         0              0              0
  86  Shelf           3.726          0.552          1.671          0              90             0
  87  Microwave       1.150          1.655          -1.614         0              0              0
  88  Fridge          -0.035         0.0            2.177          0              180            0
  89  Window          -0.115         1.802          -1.896         90             0              0
  90  Window          -4.009         1.799          0.310          90             90             0
  91  Shelf           3.726          0.172          1.671          0              90             0
  92  SinkBasin       -0.330         0.686          -1.581         0              270            0
  93  GarbageCan      -0.870         -0.001         2.136          0              90             0
  94  StoveKnob       1.089          0.913          -1.243         45             0              0
  95  StoveKnob       1.208          0.913          -1.243         45             0              0
  96  StoveKnob       1.340          0.913          -1.243         45             0              0
  97  StoveKnob       0.961          0.913          -1.243         45             0              0
  98  Toaster         1.637          0.900          -1.673         0              0              0
  99  Chair           -3.505         0.002          3.290          0              105.736        0
 100  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
 101  HousePlant      -2.663         0.835          3.209          0              0              0
 102  Faucet          -0.187         0.922          -1.75          0              311.166        0
 103  ShelvingUnit    3.726          0.006          1.671          0              90             0
 104  Stool           -2.501         -0.000         0.062          1.223          91.243         0
 105  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 106  Chair           -2.934         0.002          2.437          0              28.531         0
 107  Chair           -1.698         0.002          3.235          0              245.204        0
 108  NorthWall
 109  EastWall
 110  SouthWall
 111  WestWall

Plan:
STEP 1: Go to the coffeemaker | STEP 2: Take the mug from the coffeemaker | STEP 3: Go to the microwave | STEP 4: Heat the mug | STEP 5: Go to the coffeemaker | STEP 6: Put the mug back in the coffeemaker | END