Task: Place a warmed mug in a 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           0.0            0.900          -0.25          0              0              0
   1  Kettle          -2.477         0.953          0.614          0              90             0              76
   2  Kettle          1.681          1.329          -1.809         0              180            0              59
   3  Fork            -2.614         0.952          0.345          0              90             0              76
   4  Spoon           -0.012         0.775          -1.473         0              270            0              46
   5  Cup             -1.872         1.491          -1.677         0              0              0              73
   6  Knife           -1.928         0.977          0.165          0              180            0              76
   7  SoapBottle      -0.096         0.910          0.375          0              0              0              42
   8  SoapBottle      -0.394         0.068          0.612          0              90             0              72
   9  Bread           -2.135         1.134          -1.763         0              0              0              73
  10  Lettuce         -1.791         1.042          0.255          0              90             0              76
  11  Mug             1.792          0.103          0.311          0              0              0              51
  12  Apple           1.663          0.979          0.458          0              0              0              58
  13  Apple           1.785          0.979          0.292          0              0              0              58
  14  Bread           1.299          0.978          -1.532         0              0              0              43
  15  Knife           -1.928         0.977          0.435          0              90             0              76
  16  Fork            -2.203         0.952          0.435          0              0              0              76
  17  Bowl            -2.047         0.780          -1.806         0              0              0              73
  18  Kettle          -2.065         0.953          0.614          0              90             0              76
  19  Cup             0.504          0.108          0.308          0              0              0              54
  20  Tomato          -0.361         0.119          0.439          0              90             0              72
  21  SoapBottle      0.804          0.918          -1.582         0              270            0              41
  22  Plate           -0.418         1.329          -1.809         0              180            0              37
  23  Pot             1.007          0.962          0.561          0              270            0              45
  24  Spatula         0.167          0.927          0.292          0              0              0              42
  25  PaperTowelRoll  -2.203         1.056          0.524          0              90             0              76
  26  Egg             -0.975         1.050          -1.671         0              0              0              65
  27  Lettuce         -0.175         1.002          -1.820         0              0              0              43
  28  SaltShaker      -2.477         0.948          0.435          0              90             0              76
  29  PepperShaker    -1.791         0.948          0.614          0              90             0              76
  30  Apple           -1.079         1.082          -1.770         0              0              0              65
  31  ButterKnife     0.701          0.919          -1.649         0              270            0              41
  32  Potato          -0.923         1.045          -1.803         0              0              0              65
  33  Pan             1.022          0.959          0.288          0              219.190        0              55
  34  DishSponge      0.341          0.782          -1.648         0              270            0              66
  35  Spoon           -2.065         0.953          0.345          0              90             0              76
  36  Mug             0.618          0.945          0.469          0              180            0              67
  37  Cabinet         -0.193         1.688          -1.648         0              180            0
  38  StoveBurner     1.360          0.957          0.293          0              180            0
  39  Drawer          0.499          0.792          0.296          0              0              0
  40  Cabinet         0.095          0.400          -1.352         0              180            0
  41  Sink            0.711          0.817          -1.772         0              270            0
  42  CounterTop      0.280          0.947          0.458          0              0              0
  43  CounterTop      -0.680         0.947          -1.654         0              0              0
  44  Drawer          1.825          0.792          0.296          0              0              0
  45  StoveBurner     1.007          0.957          0.561          0              270            0
  46  Drawer          -0.150         0.792          -1.496         0              0              0
  47  Drawer          -0.586         0.792          -1.496         0              0              0
  48  StoveBurner     1.360          0.957          0.561          0              270            0
  49  Drawer          0.024          0.792          0.296          0              0              0
  50  Cabinet         1.079          0.400          -1.349         0              180            0
  51  Cabinet         1.669          0.402          0.151          0              0              0
  52  Cabinet         0.055          0.402          -1.351         0              0              0
  53  Cabinet         -0.180         0.402          0.151          0              0              0
  54  Cabinet         0.729          0.402          0.151          0              0              0
  55  StoveBurner     1.007          0.957          0.293          0              180            0
  56  Drawer          -1.100         0.792          -1.496         0              0              0
  57  Cabinet         -0.396         0.402          -1.351         0              0              0
  58  CounterTop      1.776          0.947          0.458          0              0              0
  59  Cabinet         1.974          1.688          -1.648         0              180            0
  60  Cabinet         -0.820         0.400          -1.349         0              180            0
  61  Toaster         0.305          0.900          0.552          0              180            0
  62  LightSwitch     -2.756         1.307          -0.987         0              90             0
  63  Window          0.582          1.613          -1.967         90             0              0
  64  Window          1.969          1.5            -0.615         90             270            0
  65  Microwave       -1.037         0.900          -1.723         0              0              0
  66  SinkBasin       0.377          0.765          -1.655         0              270            0
  67  CoffeeMachine   0.618          0.900          0.600          0              180            0
  68  StoveKnob       1.246          0.913          0.118          45             180            0
  69  StoveKnob       1.373          0.913          0.118          45             180            0
  70  StoveKnob       0.995          0.913          0.118          45             180            0
  71  StoveKnob       1.126          0.913          0.118          45             180            0
  72  GarbageCan      -0.368         -0.029         0.539          0              90             0
  73  Fridge          -2.134         0.0            -1.690         0              0              0
  74  Faucet          0.549          1.046          -1.833         0              232.527        0
  75  Stool           -1.475         0.000          0.414          1.233          280.375        0
  76  DiningTable     -2.255         -0.004         0.432          0              0              0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Turn left to face the counter with the coffee machine on it. | STEP 2: Pick up the mug from the coffee machine. | STEP 3: Turn around and walk to the microwave on your right. | STEP 4: Warm the mug in the microwave, then take it out again. | STEP 5: Turn around and walk back to the coffee machine. | STEP 6: Place the mug in the coffee machine. | END