Task: Putting the white mug in 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          -1.25          0              270            0
   1  Pan             1.845          0.948          -0.757         0              0              0              53
   2  Ladle           -0.047         0.971          0.534          0              0              0              73
   3  WineBottle      0.294          0.927          0.991          0              0              0              73
   4  WineBottle      -0.927         0.914          -2.151         0              0              0              56
   5  Spatula         1.828          0.928          -1.563         0              0              0              56
   6  Spatula         -0.047         0.945          0.762          0              0              0              73
   7  Spoon           -0.064         0.765          -1.981         0              0              0              68
   8  Plate           1.773          0.556          2.482          0              0              0              76
   9  Knife           0.180          0.950          0.305          0              0              0              73
  10  Knife           -0.113         0.936          -1.701         0              0              0              56
  11  SaltShaker      -0.230         0.909          -1.725         0              0              0              56
  12  Apple           -0.160         1.001          0.991          0              0              0              73
  13  Apple           -0.160         1.001          0.534          0              0              0              73
  14  Apple           0.522          1.001          0.534          0              0              0              73
  15  Potato          0.408          0.956          0.991          0              0              0              73
  16  Bowl            1.748          0.117          -1.332         0              270            0              50
  17  SoapBottle      1.985          1.656          -1.866         0              270            0              46
  18  Fork            0.180          0.931          1.220          0              90             0              73
  19  Ladle           0.180          0.975          1.448          0              0              0              73
  20  Bread           0.399          0.964          0.110          0              0              1.601          73
  21  Lettuce         0.066          1.008          0.991          0              0              0              73
  22  WineBottle      1.850          0.914          -2.002         0              0              0              56
  23  Spatula         0.066          0.945          1.220          0              0              0              73
  24  Plate           -0.657         0.115          -1.873         0              0              0              49
  25  SaltShaker      1.528          1.656          -2.049         0              0              0              43
  26  Pot             -0.117         0.921          1.5            0              0              0              73
  27  Cup             -1.438         1.183          -0.495         0              90             0              64
  28  PepperShaker    0.522          0.926          0.305          0              0              0              73
  29  Pan             1.567          0.948          -0.757         0              0              0              38
  30  ButterKnife     -0.047         0.926          0.534          0              0              0              73
  31  Tomato          0.457          0.965          -2.252         0              0              0              56
  32  DishSponge      1.466          0.913          -1.563         0              0              0              56
  33  Egg             -1.610         1.558          -0.392         0              90             0              64
  34  Spoon           0.522          0.928          1.220          0              0              0              73
  35  Knife           -0.137         0.787          -2.071         0              90             0              68
  36  Mug             -0.720         0.908          -2.200         0              0              0              56
  37  StoveBurner     1.845          0.940          -0.355         0              0              0
  38  StoveBurner     1.567          0.940          -0.757         0              0              0
  39  Cabinet         -1.149         2.019          -1.979         0              90             0
  40  Cabinet         -1.149         2.265          -0.834         0              90             0
  41  Cabinet         -0.459         2.265          -2.0           0              0              0
  42  Cabinet         -1.100         2.019          -2.0           0              0              0
  43  Cabinet         1.719          2.019          -2.0           0              0              0
  44  Cabinet         1.179          2.019          -2.0           0              0              0
  45  Cabinet         0.199          2.019          -2.0           0              0              0
  46  Cabinet         1.75           2.019          -1.399         0              270            0
  47  Cabinet         1.75           2.019          -1.029         0              270            0
  48  Cabinet         1.379          0.469          -1.689         0              0              0
  49  Cabinet         -0.819         0.469          -1.689         0              0              0
  50  Cabinet         1.389          0.469          -1.059         0              270            0
  51  Cabinet         -0.839         0.469          -1.665         0              90             0
  52  StoveBurner     1.567          0.940          -0.355         0              0              0
  53  StoveBurner     1.845          0.940          -0.757         0              0              0
  54  Sink            -0.109         0.893          -2.009         0              0              0
  55  Drawer          -0.819         0.75           -1.690         0              0              0
  56  CounterTop      0.232          0.949          -2.002         0              0              0
  57  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  58  Vase            0.251          0.546          0.475          0              270            0
  59  Toaster         0.780          0.900          -2.080         0              0              0
  60  LightSwitch     0.108          1.315          2.75           0              180            0
  61  Vase            0.400          0.925          0.218          0              180            0
  62  Microwave       -1.233         0.900          -1.680         0              90             0
  63  Vase            1.465          1.662          -2.200         0              0              0
  64  Fridge          -1.495         0.0            -0.703         0              0              0
  65  Window          2.114          1.495          1.072          90             270            0
  66  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  67  Vase            0.333          0.546          1.272          0              270            0
  68  SinkBasin       -0.148         0.753          -2.026         0              0              0
  69  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  70  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  71  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  72  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  73  DiningTable     0.170          0.005          0.678          0              270            0
  74  Shelf           0.170          0.155          0.678          0              270            0
  75  Shelf           1.605          0.172          2.480          0              0              0
  76  Shelf           1.605          0.552          2.480          0              0              0
  77  Shelf           1.604          0.880          2.479          0              0              0
  78  ShelvingUnit    1.605          0.006          2.480          0              0              0
  79  Faucet          -0.143         1.028          -2.223         0              270            0
  80  Stool           -0.553         0.000          0.871          1.233          280.376        0
  81  Shelf           0.170          0.528          0.678          0              270            0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Turn around and face the counter to the right of the sink | STEP 2: Grab the white mug off of the counter | STEP 3: Back up and face the front of the microwave | STEP 4: Heat the mug in the microwave and then take it out | STEP 5: Turn around and go to the coffee maker | STEP 6: Put the mug in the coffee maker | END