Task: place a hot mug under a 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           -0.75          0.901          1.75           0              90             0
   1  Potato          -0.138         1.044          0.140          0              0              0              71
   2  Potato          -2.888         1.212          4.278          0              90             0              69
   3  ButterKnife     -1.770         0.928          0.433          0              0              0              52
   4  Spoon           -2.170         0.929          0.348          0              90             0              52
   5  Fork            -0.572         0.901          3.535          0              0              0              75
   6  Pot             -0.535         0.928          4.274          0              0              0              56
   7  Egg             -2.900         0.087          0.368          0              26.101         0              66
   8  Cup             -2.686         0.900          2.045          0              0              0              73
   9  Cup             -2.480         0.900          2.441          0              0              0              73
  10  Plate           -2.191         1.777          0.205          0              0              0              48
  11  Knife           -0.228         0.926          2.530          0              0              0              75
  12  SoapBottle      -2.480         0.900          2.573          0              0              0              73
  13  Tomato          -2.789         0.964          2.309          0              0              0              73
  14  Tomato          -2.738         0.362          4.204          0              90             0              69
  15  SaltShaker      -2.995         0.896          2.177          0              0              0              73
  16  Lettuce         -0.400         0.980          2.731          0              180            0              75
  17  Mug             -2.805         1.181          4.575          0              90             0              69
  18  Apple           -0.244         1.079          0.140          0              0              0              71
  19  Apple           -0.572         0.956          2.329          0              0              0              75
  20  Egg             -2.995         0.933          2.441          0              0              0              73
  21  Plate           -0.228         0.904          2.329          0              0              0              75
  22  Fork            -2.628         0.936          3.673          0              0              0              59
  23  Bread           -2.864         0.940          1.983          0              0              0              73
  24  Apple           -2.437         0.984          0.433          0              0              0              52
  25  Lettuce         -2.583         0.980          2.309          0              0              0              73
  26  Spatula         -1.904         0.943          0.602          0              0              0              52
  27  Knife           -2.706         0.961          3.302          0              90             0              59
  28  Potato          -0.400         0.926          3.334          0              0              0              75
  29  Tomato          -2.747         0.117          0.335          0              26.101         0              66
  30  Cup             -0.403         1.023          0.235          0              0              0              71
  31  SaltShaker      -2.269         0.658          0.464          0              0              0              60
  32  PepperShaker    -0.164         0.658          0.409          0              0              0              41
  33  ButterKnife     -2.480         0.900          1.913          0              0              0              73
  34  SoapBottle      -0.657         0.900          3.334          0              0              0              75
  35  Pan             -0.250         0.926          4.651          0              0              0              54
  36  DishSponge      -2.411         1.773          0.114          0              0              0              48
  37  Pot             -0.228         0.900          3.133          0              90             0              75
  38  Spoon           -0.572         0.901          3.334          0              180            0              75
  39  Mug             -0.921         0.790          0.447          0              0              0              70
  40  Bowl            -2.831         0.295          4.427          0              90             0              69
  41  Drawer          -0.325         0.696          0.413          0              0              0
  42  Cabinet         -0.595         0.490          0.648          0              0              0
  43  Cabinet         -0.555         0.490          0.646          0              0              0
  44  Cabinet         -1.591         0.490          0.646          0              0              0
  45  Cabinet         -1.554         0.490          0.646          0              0              0
  46  Cabinet         -2.550         0.490          0.646          0              0              0
  47  Cabinet         -1.514         2.046          0.392          0              0              0
  48  Cabinet         -2.474         2.046          0.392          0              0              0
  49  Cabinet         -1.478         2.046          0.392          0              0              0
  50  Cabinet         -0.518         2.046          0.392          0              0              0
  51  Cabinet         -0.479         2.046          0.392          0              0              0
  52  CounterTop      -1.366         0.952          0.349          0              0              0
  53  Sink            -1.108         0.926          0.340          0              0              0
  54  StoveBurner     -0.254         0.922          4.672          0              0              0
  55  Drawer          -1.824         0.696          0.413          0              0              0
  56  StoveBurner     -0.535         0.922          4.274          0              0              0
  57  StoveBurner     -0.254         0.922          4.274          0              0              0
  58  StoveBurner     -0.536         0.922          4.672          0              0              0
  59  CounterTop      -2.780         0.971          3.487          0              0              0
  60  Drawer          -2.323         0.696          0.413          0              0              0
  61  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  65  Toaster         -0.286         0.861          3.520          0              270            0
  66  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  67  LightSwitch     -0.064         1.447          1.996          0              270            0
  68  Window          -3.075         1.593          1.361          90             90             0
  69  Fridge          -2.802         0.0            4.427          0              0              0
  70  SinkBasin       -1.106         0.785          0.337          0              0              0
  71  Microwave       -0.358         0.917          0.224          0              0              0
  72  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  73  DiningTable     -2.733         -0.003         2.607          0              270            0
  74  Faucet          -1.077         0.920          0.028          270            270            0
  75  DiningTable     -0.488         -0.003         3.182          0              270            0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: turn left and locate the fridge | STEP 2: take out the mug from the fridge | STEP 3: turn left and walk towards the microwave | STEP 4: place the mug in the microwave for some time and then take it out | STEP 5: turn around and locate the coffee maker | STEP 6: place the mug under the coffee maker | END