Task: Heat the 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           -1.75          0.901          3.0            0              270            0
   1  Pan             -0.536         0.928          4.672          0              0              0              60
   2  Potato          -0.244         1.049          0.140          0              0              0              73
   3  Potato          -0.228         0.926          3.133          0              0              0              77
   4  DishSponge      -1.770         0.927          0.518          0              0              0              54
   5  ButterKnife     -0.380         0.662          0.355          0              0              0              43
   6  ButterKnife     -2.706         0.935          3.209          0              0              0              61
   7  Spoon           -2.686         0.901          2.706          0              0              0              75
   8  Fork            -2.549         0.936          3.488          0              90             0              61
   9  Fork            -2.789         0.901          2.573          0              0              0              75
  10  Egg             -0.138         1.051          0.171          0              0              0              73
  11  Egg             -2.847         0.665          4.575          0              90             0              71
  12  Plate           -2.480         0.904          2.573          0              0              0              75
  13  Knife           -0.433         0.688          0.464          0              270            0              43
  14  SoapBottle      -2.782         0.053          0.437          0              26.101         0              68
  15  Bowl            -2.847         0.629          4.352          0              90             0              71
  16  PepperShaker    -0.747         1.769          0.114          0              0              0              52
  17  Lettuce         -2.805         1.266          4.427          0              90             0              71
  18  Lettuce         -2.686         0.980          2.309          0              0              0              75
  19  Mug             -2.778         1.001          3.714          0              90             0              74
  20  Mug             -1.193         1.768          0.342          0              270            0              51
  21  Apple           -2.480         0.956          2.309          0              0              0              75
  22  Egg             -2.764         0.665          4.649          0              90             0              71
  23  Plate           -2.301         1.777          0.251          0              0              0              50
  24  Fork            -0.314         0.901          2.731          0              0              0              77
  25  Bread           -0.486         0.957          2.329          0              0              0              77
  26  Apple           -0.350         1.079          0.267          0              0              0              73
  27  Lettuce         -0.400         0.980          2.731          0              180            0              77
  28  Spatula         -2.995         0.915          2.441          0              90             0              75
  29  Knife           -0.314         0.926          2.329          0              0              0              77
  30  Potato          -2.722         0.658          4.501          0              90             0              71
  31  Tomato          -2.722         1.250          4.575          0              90             0              71
  32  Cup             -2.785         0.935          3.302          0              0              0              61
  33  SaltShaker      -2.323         0.658          0.300          0              0              0              62
  34  PepperShaker    -0.657         0.896          2.932          0              0              0              77
  35  ButterKnife     -0.572         0.900          2.932          0              0              0              77
  36  SoapBottle      -0.858         1.773          0.160          0              0              0              52
  37  Pan             -2.785         0.298          4.352          0              180            0              71
  38  DishSponge      -2.892         0.900          2.177          0              0              0              75
  39  Pot             -2.476         0.889          2.050          0              0              0              75
  40  Spoon           -2.892         0.901          1.913          0              0              0              75
  41  Mug             -1.094         0.790          0.447          0              0              0              72
  42  Bowl            -0.228         0.897          2.932          0              0              0              77
  43  Drawer          -0.325         0.696          0.413          0              0              0
  44  Cabinet         -0.595         0.490          0.648          0              0              0
  45  Cabinet         -0.555         0.490          0.646          0              0              0
  46  Cabinet         -1.591         0.490          0.646          0              0              0
  47  Cabinet         -1.554         0.490          0.646          0              0              0
  48  Cabinet         -2.550         0.490          0.646          0              0              0
  49  Cabinet         -1.514         2.046          0.392          0              0              0
  50  Cabinet         -2.474         2.046          0.392          0              0              0
  51  Cabinet         -1.478         2.046          0.392          0              0              0
  52  Cabinet         -0.518         2.046          0.392          0              0              0
  53  Cabinet         -0.479         2.046          0.392          0              0              0
  54  CounterTop      -1.366         0.952          0.349          0              0              0
  55  Sink            -1.108         0.926          0.340          0              0              0
  56  StoveBurner     -0.254         0.922          4.672          0              0              0
  57  Drawer          -1.824         0.696          0.413          0              0              0
  58  StoveBurner     -0.535         0.922          4.274          0              0              0
  59  StoveBurner     -0.254         0.922          4.274          0              0              0
  60  StoveBurner     -0.536         0.922          4.672          0              0              0
  61  CounterTop      -2.780         0.971          3.487          0              0              0
  62  Drawer          -2.323         0.696          0.413          0              0              0
  63  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  66  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  67  Toaster         -0.286         0.861          3.520          0              270            0
  68  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  69  LightSwitch     -0.064         1.447          1.996          0              270            0
  70  Window          -3.075         1.593          1.361          90             90             0
  71  Fridge          -2.802         0.0            4.427          0              0              0
  72  SinkBasin       -1.106         0.785          0.337          0              0              0
  73  Microwave       -0.358         0.917          0.224          0              0              0
  74  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  75  DiningTable     -2.733         -0.003         2.607          0              270            0
  76  Faucet          -1.077         0.920          0.028          270            270            0
  77  DiningTable     -0.488         -0.003         3.182          0              270            0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn right and go to the coffee maker. | STEP 2: Pick up the coffee mug. | STEP 3: Turn left and go to the microwave. | STEP 4: Put the mug in the microwave and heat it. | STEP 5: Turn around and carry the mug back to the coffee maker. | STEP 6: Put the mug on the coffee maker. | END