Task: Place a heated mug on the base of 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           -0.25          0.900          -1.0           0              180            0
   1  Potato          -0.899         0.598          0.272          0              90             0              68
   2  DishSponge      -1.041         1.500          2.275          0              180            0              67
   3  ButterKnife     -1.127         0.927          2.234          0              0              0              36
   4  ButterKnife     -0.876         0.937          1.154          0              0              0              61
   5  Fork            -0.960         0.938          0.921          0              90             0              61
   6  Fork            -0.793         0.938          0.765          0              0              0              61
   7  Spatula         1.275          0.761          1.052          0              270            0              66
   8  Pot             -1.109         0.930          1.865          0              0              0              60
   9  Plate           1.385          1.076          0.376          0              0              0              42
  10  Plate           1.382          0.105          0.171          0              0              0              46
  11  Knife           -0.827         0.768          1.050          0              270            0              59
  12  Tomato          -1.209         0.999          1.154          0              0              0              61
  13  SaltShaker      -1.209         0.934          0.921          0              0              0              61
  14  Mug             1.528          1.002          2.345          0              270            0              41
  15  Lettuce         -1.043         1.028          1.076          0              0              0              61
  16  SoapBottle      -0.868         0.083          0.985          0              0              0              48
  17  Bread           -0.923         0.990          2.264          0              302.404        0              36
  18  Fork            -1.043         0.938          0.843          0              90             0              61
  19  Tomato          -1.126         0.999          0.765          0              0              0              61
  20  Bowl            -1.018         1.315          0.195          0              270            0              68
  21  Pot             -1.109         0.930          1.470          0              0              0              38
  22  Spatula         -0.723         0.761          0.914          0              270            0              59
  23  Knife           -0.723         0.768          2.245          0              90             0              37
  24  SaltShaker      -0.723         0.743          1.118          0              180            0              59
  25  Apple           -0.877         1.368          0.348          0              90             0              68
  26  PepperShaker    1.459          1.743          0.168          0              0              0              43
  27  ButterKnife     -1.126         0.937          1.154          0              0              0              61
  28  Potato          -0.877         1.351          0.042          0              90             0              68
  29  Plate           1.380          1.751          -0.035         0              0              0              44
  30  DishSponge      1.409          0.944          1.673          0              180            0              63
  31  Egg             1.550          0.979          1.673          0              180            0              63
  32  Cup             1.587          1.595          1.756          0              270            0              75
  33  Pan             1.378          1.737          0.392          0              270            0              44
  34  Spoon           1.456          0.844          1.369          0              180            0              78
  35  Mug             -0.712         0.932          2.159          0              180            0              36
  36  CounterTop      -0.973         0.973          2.386          0              0              0
  37  Drawer          -0.783         0.774          2.381          0              180            0
  38  StoveBurner     -1.108         0.922          1.470          0              0              0
  39  Drawer          1.370          0.774          2.391          0              0              0
  40  Stool           -0.748         0.008          3.116          0              0              0
  41  CounterTop      1.504          0.973          2.309          0              0              0
  42  Cabinet         1.219          1.388          0.591          0              0              0
  43  Cabinet         1.500          2.113          1.164          0              0              0
  44  Cabinet         1.219          2.010          0.591          0              0              0
  45  Cabinet         1.219          0.388          2.105          0              0              0
  46  Cabinet         1.219          0.553          0.591          0              0              0
  47  Cabinet         -0.913         2.113          1.164          0              0              0
  48  Cabinet         -0.633         0.388          0.627          0              0              0
  49  Cabinet         -0.913         2.050          -0.329         0              0              0
  50  Cabinet         -0.913         2.113          0.583          0              0              0
  51  Cabinet         -0.913         2.113          2.082          0              0              0
  52  Cabinet         -0.913         2.113          1.207          0              0              0
  53  Cabinet         1.500          2.113          2.082          0              0              0
  54  Cabinet         1.500          2.113          1.207          0              0              0
  55  Cabinet         1.500          1.810          2.691          0              0              0
  56  Cabinet         1.500          1.810          2.101          0              0              0
  57  Cabinet         -0.633         0.388          2.105          0              0              0
  58  Cabinet         -0.911         1.810          2.700          0              180            0
  59  Drawer          -0.783         0.774          0.915          0              180            0
  60  StoveBurner     -1.108         0.922          1.865          0              0              0
  61  CounterTop      -0.972         0.973          0.921          0              0              0
  62  Cabinet         1.219          0.388          0.631          0              0              0
  63  Sink            1.544          0.869          1.639          0              180            0
  64  StoveBurner     -0.832         0.922          1.865          0              0              0
  65  StoveBurner     -0.831         0.922          1.470          0              0              0
  66  Drawer          1.370          0.774          0.916          0              0              0
  67  Cabinet         -0.911         1.810          2.111          0              180            0
  68  Fridge          -1.001         0.0            0.119          0              0              0
  69  StoveKnob       -0.648         0.926          1.923          0              270            0
  70  StoveKnob       -0.648         0.926          1.363          0              270            0
  71  StoveKnob       -0.648         0.926          1.513          0              270            0
  72  StoveKnob       -0.648         0.926          1.763          0              270            0
  73  Toaster         -1.002         0.926          2.561          0              90             0
  74  GarbageCan      1.451          -0.029         2.912          0              0              0
  75  Microwave       1.632          1.480          1.645          0              270            0
  76  Window          0.224          1.601          3.509          90             0              0
  77  CoffeeMachine   1.692          0.926          2.453          0              270            0
  78  SinkBasin       1.461          0.833          1.369          0              180            0
  79  LightSwitch     0.451          1.412          -1.674         0              0              0
  80  Faucet          1.707          0.925          1.363          0              270            0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: Cross the room to stand in front of the coffee maker on the counter to the left of the sink.  | STEP 2: Pick up the mug from the base of the coffee maker. | STEP 3: Carry the mug to stand in front of the sink.  | STEP 4: Put the mug in the microwave above the sink and then remove once heated.  | STEP 5: Carry the mug back to the coffee maker. | STEP 6: Place the mug back on the base of the coffee maker. | END