Task: Put a warmed mug under 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           2.25           0.930          1.25           0              270            0
   1  Ladle           3.253          0.214          0.770          0              90             0              69
   2  Ladle           -0.745         0.554          0.489          0              270            0              57
   3  ButterKnife     -0.601         0.900          -0.625         0              45             0              60
   4  ButterKnife     0.436          0.911          0.223          0              36.810         0              91
   5  Glassbottle     1.303          1.675          -1.480         0              0              0              51
   6  Glassbottle     0.713          1.675          -1.341         0              0              0              75
   7  Kettle          2.971          0.176          -0.404         0              0              0              71
   8  Kettle          3.173          1.465          -1.235         0              0              0              74
   9  Spatula         3.373          0.915          -0.151         0              90             0              59
  10  Spoon           3.07           0.754          0.098          0              270            0              105
  11  Spoon           -0.987         0.901          -0.746         0              45             0              60
  12  CellPhone       -0.101         0.130          -1.330         0              45             0              85
  13  Mug             0.608          0.905          0.337          0              36.810         0              91
  14  Apple           -1.008         0.974          -0.047         0              0              0              60
  15  Lettuce         2.888          0.966          -0.499         0              0              0              59
  16  SaltShaker      0.002          0.896          -1.533         0              45             0              81
  17  SaltShaker      -0.786         0.514          0.664          0              0              0              57
  18  PepperShaker    1.303          1.671          -1.619         0              0              0              51
  19  SoapBottle      3.198          0.184          -0.702         0              0              0              72
  20  Cup             1.160          1.672          -1.550         0              0              0              51
  21  Plate           -0.953         0.886          0.699          0              0              0              60
  22  Glassbottle     0.778          0.908          0.332          0              36.810         0              91
  23  SoapBottle      3.181          0.110          1.492          0              225            0              101
  24  Potato          -0.755         0.938          -0.568         0              45             0              60
  25  Fork            1.491          0.908          0.180          0              0              0              91
  26  Ladle           3.084          0.214          0.629          0              0              0              69
  27  Pot             -0.420         0.902          -0.920         0              135            0              55
  28  Kettle          -0.862         0.901          0.399          0              0              0              60
  29  Spatula         0.622          0.925          0.727          0              180            0              91
  30  Knife           1.229          0.933          0.889          0              180            0              91
  31  Lettuce         0.798          0.976          0.827          0              0              0              91
  32  Cup             0.101          0.898          -1.445         0              0              0              81
  33  SaltShaker      0.041          0.129          -1.326         0              45             0              85
  34  Egg             0.494          0.952          -1.588         0              0              0              81
  35  PepperShaker    0.547          0.907          0.140          0              36.810         0              91
  36  ButterKnife     0.179          0.900          -1.373         0              0              0              81
  37  Apple           0.798          0.981          0.527          0              0              0              91
  38  Pan             1.229          0.910          0.322          0              0              0              91
  39  Bread           -1.008         0.979          0.176          0              0              0              60
  40  CellPhone       -0.786         0.515          1.430          0              0              0              48
  41  DishSponge      -0.868         0.517          0.489          0              0              0              57
  42  Tomato          0.851          0.750          -1.407         0              0              0              106
  43  Spoon           0.422          0.132          -1.515         0              90             0              50
  44  Bowl            0.179          0.897          -1.731         0              0              0              81
  45  Mug             -0.806         0.895          -0.722         0              45             0              60
  46  Drawer          0.376          0.572          -1.509         0              0              0
  47  Drawer          3.020          0.769          -0.783         0              180            0
  48  Drawer          -0.860         0.577          1.429          0              0              0
  49  StoveBurner     -0.600         0.897          -1.090         0              135            0
  50  Drawer          0.376          0.191          -1.509         0              0              0
  51  Cabinet         1.402          1.874          -1.259         0              0              0
  52  Cabinet         -0.202         1.963          -1.328         0              0              0
  53  Drawer          -0.860         0.765          1.429          0              0              0
  54  Drawer          -0.677         0.765          -0.700         0              0              0
  55  StoveBurner     -0.420         0.897          -0.920         0              135            0
  56  Drawer          3.020          0.769          -0.407         0              180            0
  57  Drawer          -0.860         0.577          0.663          0              0              0
  58  Cabinet         2.819          1.768          -1.850         0              0              0
  59  CounterTop      3.111          0.936          0.019          0              0              0
  60  CounterTop      -1.007         0.935          -0.039         0              0              0
  61  Drawer          -0.860         0.385          0.663          0              0              0
  62  StoveBurner     -0.419         0.897          -1.269         0              315            0
  63  Drawer          -0.047         0.573          -1.324         0              0              0
  64  Drawer          -0.860         0.765          0.663          0              0              0
  65  Drawer          -0.860         0.385          -0.100         0              0              0
  66  Drawer          0.376          0.380          -1.509         0              0              0
  67  Drawer          -0.860         0.765          -0.100         0              0              0
  68  Drawer          0.376          0.765          -1.509         0              0              0
  69  Cabinet         2.849          0.419          0.409          0              0              0
  70  Drawer          -0.047         0.765          -1.324         0              0              0
  71  Cabinet         2.849          0.419          -0.610         0              0              0
  72  Cabinet         2.849          0.419          -0.959         0              0              0
  73  Cabinet         3.069          1.666          -0.709         0              0              0
  74  Cabinet         2.819          1.768          -1.047         0              0              0
  75  Cabinet         0.620          1.874          -1.259         0              0              0
  76  Cabinet         0.140          1.666          -1.559         0              0              0
  77  Cabinet         -0.189         1.666          -1.340         0              0              0
  78  Cabinet         -0.709         1.963          -0.819         0              0              0
  79  Cabinet         -0.920         1.665          -0.620         0              0              0
  80  Drawer          -0.860         0.190          -0.100         0              0              0
  81  CounterTop      0.133          0.935          -1.457         0              0              0
  82  Drawer          3.020          0.769          0.695          0              180            0
  83  Drawer          -0.677         0.577          -0.700         0              0              0
  84  Drawer          -0.860         0.190          1.429          0              0              0
  85  Drawer          -0.047         0.192          -1.324         0              0              0
  86  Drawer          -0.677         0.193          -0.700         0              0              0
  87  Drawer          -0.860         0.577          -0.100         0              0              0
  88  Sink            3.078          0.887          0.086          0              0              0
  89  StoveBurner     -0.239         0.897          -1.089         0              315            0
  90  Drawer          -0.860         0.190          0.663          0              0              0
  91  CounterTop      1.210          0.937          0.463          0              0              0
  92  Drawer          -0.047         0.381          -1.324         0              0              0
  93  Drawer          -0.677         0.387          -0.700         0              0              0
  94  Mirror          -1.295         1.630          0.045          0              0              0
  95  Drawer          -0.860         0.385          1.429          0              0              0
  96  HousePlant      3.196          0.891          -0.368         0              0              0
  97  StoveKnob       -0.090         0.790          -1.009         270            45             0
  98  StoveKnob       -0.280         0.790          -0.819         270            45             0
  99  StoveKnob       -0.180         0.790          -0.920         270            45             0
 100  StoveKnob       -0.370         0.790          -0.720         270            45             0
 101  GarbageCan      3.137          0.025          1.545          0              225            0
 102  Window          3.703          1.675          0.046          90             90             0
 103  CoffeeMachine   3.214          0.890          0.697          0              270            0
 104  LightSwitch     2.592          1.309          -1.880         0              0              0
 105  SinkBasin       3.069          0.736          0.108          0              90             0
 106  Fridge          1.008          0.029          -1.467         0              0              0
 107  Toaster         -1.035         0.873          -0.396         0              90             0
 108  Microwave       -1.034         0.874          1.428          0              90             0
 109  Faucet          3.305          0.886          0.094          270            180            0
 110  NorthWall
 111  EastWall
 112  SouthWall
 113  WestWall

Plan:
STEP 1: Go left and then right and stand in front of the toaster. | STEP 2: Pick the mug up from the counter. | STEP 3: Turn and go right to stand in front of the microwave. | STEP 4: Put the mug in the microwave and turn it on and then off and take the mug out and shut the door. | STEP 5: Go left and the left again and stand in front of the coffee maker. | STEP 6: Put the mug down under the coffee maker on the counter. | END