Task: Place a chilled mug on 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           0.900          -1.0           0              180            0
   1  Pan             -0.081         0.910          0.647          0              0              0              41
   2  Potato          1.477          0.957          -1.255         0              225            0              55
   3  Kettle          1.411          0.929          0.064          0              0              0              70
   4  Spoon           -2.621         0.912          0.031          0              0              0              69
   5  Egg             1.520          0.215          0.761          0              0              0              80
   6  Egg             1.771          0.215          0.623          0              0              0              80
   7  Cup             -2.603         0.995          2.380          0              90             0              81
   8  Plate           -0.211         0.913          1.540          0              0              0              41
   9  Plate           1.735          1.666          -0.335         0              0              0              61
  10  Knife           -2.257         0.799          0.486          0              270            0              58
  11  Knife           1.256          0.943          -1.196         0              225            0              55
  12  Bowl            -2.485         1.086          -0.602         0              90             0              73
  13  Bowl            1.697          1.653          0.239          0              0              0              60
  14  SaltShaker      -2.289         0.905          1.830          0              0              0              69
  15  SaltShaker      1.426          0.906          0.465          0              0              0              50
  16  Mug             -2.677         1.533          2.057          0              0              0              53
  17  Apple           -2.372         0.972          1.530          0              0              0              69
  18  Pan             -2.289         0.910          1.230          0              90             0              69
  19  Knife           -2.227         0.799          -0.073         0              90             0              59
  20  Apple           -2.485         1.362          -0.602         0              90             0              73
  21  Bowl            -2.372         0.908          0.931          0              0              0              69
  22  Fork            -0.471         0.911          0.423          0              0              0              41
  23  Bread           -0.341         0.996          0.423          0              0              0              41
  24  Plate           -2.485         1.302          -0.885         0              90             0              73
  25  Egg             -0.471         0.941          1.317          0              0              0              41
  26  Kettle          0.373          1.664          -1.729         0              90             0              48
  27  Potato          -2.374         0.631          -0.693         0              90             0              73
  28  SaltShaker      0.195          0.905          -1.710         0              0              0              51
  29  Lettuce         -0.081         0.994          0.870          0              0              0              41
  30  Cup             -0.211         0.908          1.094          0              0              0              41
  31  SoapBottle      1.302          0.920          -1.080         0              225            0              55
  32  Spatula         -2.287         0.789          0.070          0              270            0              59
  33  PaperTowelRoll  1.341          1.015          0.406          0              0              0              50
  34  ButterKnife     -2.455         0.910          0.931          0              90             0              69
  35  PepperShaker    -2.605         1.532          2.695          0              0              0              45
  36  DishSponge      1.599          0.910          -0.684         0              0              0              51
  37  Pot             -2.311         0.105          0.895          0              270            0              67
  38  Spoon           1.488          0.919          -1.104         0              225            0              55
  39  Tomato          1.380          0.960          -1.212         0              225            0              55
  40  Mug             -2.668         1.010          2.278          0              180            0              81
  41  CounterTop      -0.360         0.946          1.093          0              0              0
  42  StoveBurner     1.412          0.923          -0.335         0              0              0
  43  StoveKnob       1.878          1.093          0.018          287.989        90             0
  44  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  45  Cabinet         -2.446         1.948          2.924          0              0              0
  46  Drawer          -2.276         0.792          0.902          0              0              0
  47  Cabinet         -2.145         0.402          1.578          0              0              0
  48  Cabinet         0.149          2.008          -1.603         0              90             0
  49  StoveBurner     1.691          0.923          -0.335         0              0              0
  50  CounterTop      1.585          0.946          0.405          0              0              0
  51  CounterTop      0.474          0.946          -1.625         0              0              0
  52  StoveBurner     1.691          0.923          0.064          0              0              0
  53  Cabinet         -2.446         1.948          1.687          0              0              0
  54  Cabinet         -2.446         1.948          1.640          0              0              0
  55  Sink            1.381          0.810          -1.271         0              225            0
  56  StoveKnob       1.878          1.093          0.150          287.989        90             0
  57  Cabinet         -2.145         0.402          -0.236         0              0              0
  58  Drawer          -2.276         0.792          0.437          0              0              0
  59  Drawer          -2.276         0.792          -0.027         0              0              0
  60  Cabinet         1.572          2.008          0.474          0              0              0
  61  Cabinet         1.572          2.008          -0.775         0              0              0
  62  Cabinet         -2.445         2.148          -1.275         0              0              0
  63  Cabinet         -2.446         2.148          -0.284         0              0              0
  64  Cabinet         -2.446         1.948          0.355          0              0              0
  65  Cabinet         -2.446         1.948          0.405          0              0              0
  66  Cabinet         -2.145         0.402          0.644          0              0              0
  67  Cabinet         -2.145         0.402          0.695          0              0              0
  68  Cabinet         -2.285         1.968          -1.325         0              180            0
  69  CounterTop      -1.485         0.946          1.319          0              0              0
  70  StoveBurner     1.411          0.923          0.064          0              0              0
  71  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  72  Drawer          -2.276         0.792          1.368          0              0              0
  73  Fridge          -2.475         0.0            -0.782         0              90             0
  74  LightSwitch     -0.929         1.350          -1.950         0              0              0
  75  Toaster         -2.564         0.900          1.876          0              90             0
  76  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  77  Window          1.508          1.534          -1.496         90             135            0
  78  Window          1.973          1.521          1.121          90             90             0
  79  SinkBasin       1.149          0.753          -1.380         0              225            0
  80  GarbageCan      1.646          -0.000         0.679          0              0              0
  81  Microwave       -2.580         0.900          2.440          0              90             0
  82  Stool           0.439          0.010          0.747          0              0              0
  83  Stool           -2.303         0.010          1.839          0              0              0
  84  Faucet          1.235          1.138          -1.473         0              225            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Turn right and move towards the door on the right and then turn left and move toward and face the microwave. | STEP 2: Open the microwave door and pick up the mug to the left of the glass and then close the microwave door. | STEP 3: Turn around, move forward, turn right and move toward the door then turn right and face the refrigerator. | STEP 4: Open the refrigerator door and place the mug on the shelf to the left of the bowl. Close the refrigerator door, wait, and open the refrigerator door pick up the mug next to the bowl and then close the refrigerator door. | STEP 5: Turn left and move towards the oven and then turn right and face the coffee maker. | STEP 6: Place the mug on the coffee maker | END