Task: Warm a mug and place it on the coffee machine.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          2.25           0              90             0
   1  ButterKnife     0.124          0.771          0.451          0              0              0              47
   2  Pot             1.562          0.988          3.848          0              0              0              44
   3  Spatula         1.348          0.786          3.154          0              90             0              43
   4  Cup             2.137          1.511          5.751          0              270            0              72
   5  Cup             0.897          1.575          0.207          0              0              0              57
   6  Knife           -0.611         1.022          0.303          0              0              0              50
   7  Knife           -0.467         0.789          6.479          0              270            0              86
   8  Bowl            -0.334         0.759          6.742          0              135            0              86
   9  Bowl            1.322          0.139          3.291          0              0              0              61
  10  PepperShaker    1.573          0.135          3.217          0              0              0              61
  11  SaltShaker      1.499          1.571          4.694          0              0              0              54
  12  Mug             1.442          0.886          2.474          0              90             0              73
  13  Mug             1.135          0.987          4.808          0              0              0              51
  14  Apple           -0.003         0.834          6.354          0              270            0              86
  15  Bowl            0.213          0.759          6.763          0              225            0              86
  16  Bread           1.099          1.048          0.434          0              0              0              50
  17  Egg             2.094          1.565          5.876          0              270            0              72
  18  Knife           -0.096         0.789          6.787          0              0              0              86
  19  Fork            1.314          0.993          3.137          0              0              0              50
  20  Apple           2.104          0.155          6.409          0              0              0              74
  21  Kettle          1.317          0.988          4.294          0              0              0              45
  22  Plate           1.486          0.142          4.724          0              0              0              52
  23  SaltShaker      -0.308         0.987          0.212          0              0              0              50
  24  Lettuce         -0.096         0.848          6.014          0              0              0              86
  25  SoapBottle      1.403          0.992          3.137          0              0              0              50
  26  Spatula         -0.413         0.786          0.563          0              0              0              46
  27  PaperTowelRoll  1.135          1.096          4.624          0              0              0              51
  28  Pot             1.32           0.988          3.848          0              0              0              49
  29  Potato          -0.618         0.794          6.284          0              225            0              86
  30  ButterKnife     0.125          0.760          6.851          0              225            0              86
  31  PepperShaker    -0.621         0.755          6.666          0              270            0              86
  32  Pan             1.313          0.985          4.284          0              0              0              45
  33  Tomato          -0.611         1.042          0.486          0              0              0              50
  34  DishSponge      -0.413         0.771          0.507          0              0              0              46
  35  Cup             0.150          0.756          6.291          0              270            0              86
  36  Spoon           1.292          0.772          3.154          0              0              0              43
  37  Mug             1.384          1.043          0.847          0              270            0              50
  38  Cabinet         1.307          2.455          4.360          0              0              0
  39  Cabinet         1.054          0.422          1.710          0              0              0
  40  Drawer          1.280          0.808          4.718          0              0              0
  41  Cabinet         1.307          2.455          3.607          0              0              0
  42  Drawer          0.736          0.802          0.521          0              0              0
  43  Drawer          1.276          0.802          3.291          0              0              0
  44  StoveBurner     1.562          0.982          3.848          0              0              0
  45  StoveBurner     1.317          0.982          4.294          0              0              0
  46  Drawer          -0.482         0.802          0.521          0              0              0
  47  Drawer          0.124          0.802          0.521          0              0              0
  48  StoveBurner     1.559          0.982          4.294          0              0              0
  49  StoveBurner     1.320          0.982          3.848          0              0              0
  50  CounterTop      1.391          1.028          0.897          0              0              0
  51  CounterTop      1.391          1.028          4.716          0              0              0
  52  Cabinet         1.054          0.422          4.548          0              0              0
  53  Cabinet         1.317          2.134          0.517          0              0              0
  54  Cabinet         1.317          2.134          4.889          0              0              0
  55  Cabinet         1.317          2.134          3.095          0              0              0
  56  Cabinet         0.443          0.422          0.743          0              0              0
  57  Cabinet         1.270          2.134          0.434          0              0              0
  58  Cabinet         -0.775         0.422          0.743          0              0              0
  59  Cabinet         -0.168         0.422          0.743          0              0              0
  60  Cabinet         1.317          2.134          1.534          0              0              0
  61  Cabinet         1.054          0.422          2.990          0              0              0
  62  Cabinet         1.054          0.422          2.944          0              0              0
  63  Cabinet         -0.263         2.134          0.434          0              0              0
  64  Cabinet         0.252          2.134          0.434          0              0              0
  65  Sink            1.391          1.006          2.326          0              0              0
  66  Microwave       0.108          0.981          0.262          0              0              0
  67  HousePlant      -0.165         0.826          6.444          0              0              0
  68  CoffeeMachine   1.551          0.982          0.953          0              270            0
  69  Toaster         1.473          0.981          4.715          0              270            0
  70  Window          -2.065         1.916          3.626          90             90             0
  71  Window          1.763          2.007          2.299          90             270            0
  72  Fridge          2.035          0.0            5.625          0              0              0
  73  SinkBasin       1.387          0.880          2.338          0              90             0
  74  GarbageCan      2.001          -0.044         6.503          0              0              0
  75  StoveKnob       1.140          0.934          3.987          45             270            0
  76  StoveKnob       1.140          0.934          4.309          45             270            0
  77  StoveKnob       1.140          0.934          4.140          45             270            0
  78  StoveKnob       1.140          0.934          3.824          45             270            0
  79  Vase            -0.226         0.834          6.993          0              0              0
  80  Vase            2.098          0.043          7.070          0              257.232        0
  81  Vase            -0.594         0.835          6.130          0              225            0
  82  LightSwitch     -2.0           1.549          6.045          0              90             0
  83  Safe            2.046          1.072          7.054          0              257.232        0
  84  Faucet          1.534          1.025          2.371          0              294.391        0
  85  Blinds          1.738          2.563          2.312          0              90             0
  86  DiningTable     -0.156         0.000          6.474          0              0              0
  87  Chair           0.291          0.002          6.142          0              310.162        0
  88  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Take a few steps to the right toward the coffee machine. | STEP 2: Pick up the coffee mug from the coffee machine. | STEP 3: Carry the mug, and go to the microwave to the right side of the counter. | STEP 4: Place the mug inside the microwave and turn it on. Take the mug back out, and shut the door. | STEP 5: Hold the mug and turn left to go back to the coffee machine. | STEP 6: Place the mug on the coffee machine. | END