Task: Place a heated mug 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           0.0            0.900          4.75           0              180            0
   1  Pan             0.604          0.141          0.497          0              270            0              65
   2  DishSponge      -0.003         0.759          6.291          0              270            0              95
   3  DishSponge      1.135          0.992          4.762          0              0              0              60
   4  Kettle          1.559          0.988          4.294          0              0              0              57
   5  Kettle          1.314          0.142          4.686          0              0              0              61
   6  Spoon           -0.158         0.761          6.541          0              0              0              95
   7  Spoon           0.104          0.761          6.653          0              225            0              95
   8  Egg             1.956          0.130          6.498          0              0              0              83
   9  Egg             2.094          1.565          6.001          0              270            0              81
  10  Cup             -0.221         0.756          6.632          0              0              0              95
  11  Plate           1.406          0.141          3.365          0              0              0              70
  12  Plate           0.193          0.144          0.353          0              0              0              68
  13  Knife           0.938          0.802          0.563          0              270            0              51
  14  Knife           -0.079         0.801          0.451          0              90             0              56
  15  Tomato          0.150          0.809          6.291          0              270            0              95
  16  Tomato          -0.611         1.042          0.303          0              0              0              59
  17  Bowl            1.403          0.991          0.440          0              0              0              59
  18  Bowl            -0.384         0.991          0.578          0              0              0              59
  19  PepperShaker    0.380          1.574          0.295          0              0              0              73
  20  SaltShaker      0.028          0.755          6.941          0              0              0              95
  21  SaltShaker      -0.346         0.755          6.323          0              0              0              95
  22  Lettuce         -0.399         0.848          6.895          0              135            0              95
  23  Mug             -0.138         0.755          6.282          0              225            0              95
  24  Bowl            -0.013         1.578          0.295          0              0              0              72
  25  Bread           1.099          1.048          0.434          0              0              0              59
  26  Egg             0.923          1.042          0.486          0              0              0              59
  27  Knife           -0.575         0.789          6.719          0              225            0              95
  28  Fork            -0.621         0.760          6.416          0              270            0              95
  29  Apple           2.051          1.590          5.251          0              270            0              81
  30  Kettle          1.322          0.141          2.498          0              0              0              71
  31  Plate           -0.483         0.144          0.506          0              0              0              67
  32  SaltShaker      -0.159         0.755          6.787          0              0              0              95
  33  Lettuce         0.150          0.848          6.604          0              270            0              95
  34  SoapBottle      1.079          1.579          0.119          0              0              0              66
  35  Spatula         -0.159         0.775          6.014          0              0              0              95
  36  PaperTowelRoll  0.305          0.864          6.354          0              270            0              95
  37  Pot             0.734          0.981          0.38           0              0              0              59
  38  Potato          -0.356         0.794          6.458          0              225            0              95
  39  ButterKnife     -0.549         0.771          0.507          0              90             0              55
  40  PepperShaker    -0.531         0.755          6.763          0              135            0              95
  41  Pan             1.32           0.988          3.848          0              0              0              58
  42  Tomato          -0.093         0.809          6.633          0              225            0              95
  43  DishSponge      1.143          0.141          4.802          0              0              0              61
  44  Cup             1.450          2.203          4.087          0              0              0              47
  45  Spoon           -0.413         0.772          0.507          0              0              0              55
  46  Mug             1.384          1.043          0.847          0              270            0              59
  47  Cabinet         1.307          2.455          4.360          0              0              0
  48  Cabinet         1.054          0.422          1.710          0              0              0
  49  Drawer          1.280          0.808          4.718          0              0              0
  50  Cabinet         1.307          2.455          3.607          0              0              0
  51  Drawer          0.736          0.802          0.521          0              0              0
  52  Drawer          1.276          0.802          3.291          0              0              0
  53  StoveBurner     1.562          0.982          3.848          0              0              0
  54  StoveBurner     1.317          0.982          4.294          0              0              0
  55  Drawer          -0.482         0.802          0.521          0              0              0
  56  Drawer          0.124          0.802          0.521          0              0              0
  57  StoveBurner     1.559          0.982          4.294          0              0              0
  58  StoveBurner     1.320          0.982          3.848          0              0              0
  59  CounterTop      1.391          1.028          0.897          0              0              0
  60  CounterTop      1.391          1.028          4.716          0              0              0
  61  Cabinet         1.054          0.422          4.548          0              0              0
  62  Cabinet         1.317          2.134          0.517          0              0              0
  63  Cabinet         1.317          2.134          4.889          0              0              0
  64  Cabinet         1.317          2.134          3.095          0              0              0
  65  Cabinet         0.443          0.422          0.743          0              0              0
  66  Cabinet         1.270          2.134          0.434          0              0              0
  67  Cabinet         -0.775         0.422          0.743          0              0              0
  68  Cabinet         -0.168         0.422          0.743          0              0              0
  69  Cabinet         1.317          2.134          1.534          0              0              0
  70  Cabinet         1.054          0.422          2.990          0              0              0
  71  Cabinet         1.054          0.422          2.944          0              0              0
  72  Cabinet         -0.263         2.134          0.434          0              0              0
  73  Cabinet         0.252          2.134          0.434          0              0              0
  74  Sink            1.391          1.006          2.326          0              0              0
  75  Microwave       0.108          0.981          0.262          0              0              0
  76  HousePlant      -0.165         0.826          6.444          0              0              0
  77  CoffeeMachine   1.551          0.982          0.953          0              270            0
  78  Toaster         1.473          0.981          4.715          0              270            0
  79  Window          -2.065         1.916          3.626          90             90             0
  80  Window          1.763          2.007          2.299          90             270            0
  81  Fridge          2.035          0.0            5.625          0              0              0
  82  SinkBasin       1.387          0.880          2.338          0              90             0
  83  GarbageCan      2.001          -0.044         6.503          0              0              0
  84  StoveKnob       1.140          0.934          3.987          45             270            0
  85  StoveKnob       1.140          0.934          4.309          45             270            0
  86  StoveKnob       1.140          0.934          4.140          45             270            0
  87  StoveKnob       1.140          0.934          3.824          45             270            0
  88  Vase            -0.226         0.834          6.993          0              0              0
  89  Vase            2.098          0.043          7.070          0              257.232        0
  90  Vase            -0.594         0.835          6.130          0              225            0
  91  LightSwitch     -2.0           1.549          6.045          0              90             0
  92  Safe            2.046          1.072          7.054          0              257.232        0
  93  Faucet          1.534          1.025          2.371          0              294.391        0
  94  Blinds          1.738          2.563          2.312          0              90             0
  95  DiningTable     -0.156         0.000          6.474          0              0              0
  96  Chair           0.291          0.002          6.142          0              310.162        0
  97  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Walk straight toward counter, turn left when you reach the counter, walk straight to the coffee machine. | STEP 2: Pick up the mug from the coffee machine. | STEP 3: Turn around to face the microwave on the counter. | STEP 4: Open the microwave and place the mug inside it, close the microwave door and heat the mug, pull the mug out of the microwave. | STEP 5: Turn left and walk toward to the coffee machine. | STEP 6: Place the heated mug back on the coffee machine. | END