Task: take a mug from the coffee machine, warm it in the microwave, then put it back under the machines dispenser

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.914          1.5            0              180            0
   1  Potato          -1.504         0.947          4.231          0              0              0              43
   2  Potato          -3.176         0.948          1.106          0              0              0              52
   3  DishSponge      -3.081         0.915          1.273          0              0              0              52
   4  ButterKnife     -0.994         0.891          0.358          0              90             0              79
   5  WineBottle      -1.259         0.892          0.152          0              90             0              79
   6  Kettle          -3.272         0.916          3.663          0              0              0              43
   7  Spatula         -1.787         0.906          0.461          0              270            0              79
   8  Spatula         -3.155         0.761          1.279          0              90             0              44
   9  Spoon           -1.523         0.879          0.152          0              270            0              79
  10  Spoon           -3.463         0.916          1.607          0              0              0              52
  11  Egg             -1.711         0.950          4.273          0              0              0              43
  12  Plate           -2.410         0.084          3.625          0              0              0              54
  13  SoapBottle      -1.192         0.086          3.788          0              270            0              75
  14  Bowl            -3.368         0.914          2.844          0              0              0              43
  15  PepperShaker    -3.368         0.912          1.357          0              0              0              52
  16  PepperShaker    -3.068         0.743          2.750          0              0              0              45
  17  Mug             -1.259         0.886          -0.053         0              90             0              79
  18  Mug             -1.127         0.886          0.255          0              90             0              79
  19  Apple           -3.463         0.975          1.189          0              0              0              52
  20  Egg             -3.176         0.950          1.189          0              0              0              52
  21  Knife           -1.608         0.939          3.480          0              0              0              43
  22  Fork            -2.704         0.916          3.567          0              0              0              43
  23  Bread           -1.520         0.967          0.298          0              278.722        357.807        79
  24  Potato          -1.666         0.821          3.737          0              0              0              73
  25  Plate           -3.005         0.904          3.677          0              0              0              43
  26  Pot             -3.424         0.966          2.374          0              0              0              49
  27  Kettle          -3.113         0.084          1.200          0              0              0              62
  28  WineBottle      -2.022         0.916          4.231          0              0              0              43
  29  Bowl            -3.081         0.914          1.440          0              0              0              52
  30  Tomato          -2.126         0.984          4.104          0              0              0              43
  31  Cup             -3.654         0.915          1.189          0              0              0              52
  32  Spatula         -3.081         0.930          3.336          0              0              0              43
  33  SoapBottle      -3.272         0.915          1.524          0              0              0              52
  34  Lettuce         -1.759         0.974          0.085          0              0              0              79
  35  Pan             -3.424         0.966          1.971          0              0              0              51
  36  Apple           -0.440         1.333          4.062          0              180            0              69
  37  SaltShaker      -2.922         0.076          3.509          0              0              0              55
  38  PepperShaker    -1.660         0.077          3.625          0              0              0              48
  39  ButterKnife     -3.559         0.915          1.440          0              0              0              52
  40  DishSponge      -1.259         0.891          0.358          0              90             0              79
  41  Spoon           -3.176         0.916          1.357          0              0              0              52
  42  Mug             -3.424         0.945          3.275          0              90             0              43
  43  CounterTop      -3.381         0.950          3.335          0              0              0
  44  Drawer          -3.121         0.775          1.357          0              0              0
  45  Drawer          -3.121         0.777          2.916          0              0              0
  46  StoveBurner     -3.148         0.958          2.374          0              0              0
  47  Sink            -1.797         0.917          3.660          0              0              0
  48  Cabinet         -1.421         0.388          3.459          0              0              0
  49  StoveBurner     -3.424         0.958          2.374          0              0              0
  50  Cabinet         -3.365         1.931          2.676          0              0              0
  51  StoveBurner     -3.424         0.958          1.971          0              0              0
  52  CounterTop      -3.381         0.951          1.356          0              0              0
  53  Drawer          -3.121         0.781          3.295          0              0              0
  54  Cabinet         -2.205         0.388          3.459          0              0              0
  55  Cabinet         -2.963         0.388          3.459          0              0              0
  56  Cabinet         -2.992         0.388          2.683          0              0              0
  57  Cabinet         -3.352         2.205          1.715          0              0              0
  58  Cabinet         -3.352         2.205          2.653          0              0              0
  59  Cabinet         -2.189         0.388          3.466          0              0              0
  60  Cabinet         -3.365         1.931          3.963          0              0              0
  61  Cabinet         -3.365         1.931          1.056          0              0              0
  62  Cabinet         -2.992         0.388          1.037          0              0              0
  63  StoveBurner     -3.143         0.958          1.971          0              0              0
  64  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  65  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  66  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  67  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  68  Toaster         -2.654         0.902          4.064          0              180            0
  69  Fridge          -0.439         0.014          3.996          0              0              0
  70  LightSwitch     0.25           1.383          2.085          0              270            0
  71  Window          -1.430         1.338          -0.347         90             0              0
  72  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  73  SinkBasin       -1.802         0.778          3.700          0              0              0
  74  Microwave       -3.484         1.430          2.182          0              90             0
  75  GarbageCan      -1.184         -0.020         3.794          0              270            0
  76  Blinds          -1.404         2.092          -0.296         0              0              0
  77  Stool           -1.373         0.014          1.048          1.214          20.754         0
  78  Faucet          -1.788         0.903          3.931          270            90             0
  79  DiningTable     -1.399         0.010          0.238          0              0              0
  80  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: go in the kitchen and approach the counter where the coffee pot is sitting | STEP 2: remove the mug from the coffee machine | STEP 3: take the mug to the stove and raise toward the microwave | STEP 4: warm the mug in the microwave then remove it | STEP 5: walk the heated mug back to the counter where the coffee machine is | STEP 6: place the cup back under the machines dispenser | END