Task: Take a warmed coffee cup and set it 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           -1.0           0.869          -2.5           0              0              0
   1  DishSponge      0.149          0.900          0.929          0              270            0              62
   2  DishSponge      0.149          0.900          1.187          0              270            0              62
   3  ButterKnife     -1.970         0.701          -1.416         0              90             0              72
   4  ButterKnife     0.671          0.760          -0.061         0              0              0              35
   5  Spatula         -0.252         0.915          1.272          0              180            0              62
   6  Fork            0.715          0.773          -0.570         0              270            0              59
   7  Egg             0.824          1.195          -2.035         0              270            0              56
   8  Knife           0.574          0.782          -0.252         0              90             0              35
   9  Knife           0.866          0.782          0.002          0              270            0              35
  10  SoapBottle      -0.855         0.899          0.843          0              270            0              62
  11  PepperShaker    0.949          1.460          -0.084         0              0              0              47
  12  SaltShaker      0.950          0.879          -0.314         0              0              0              36
  13  Apple           0.672          0.826          -0.515         0              270            0              59
  14  Pot             -2.097         0.930          0.785          0              0              0              38
  15  Plate           -0.051         0.904          1.015          0              270            0              62
  16  Fork            0.721          0.665          0.387          0              0              0              41
  17  SoapBottle      0.787          0.014          0.011          0              0              0              46
  18  Apple           0.841          0.826          -0.735         0              270            0              59
  19  Pan             -1.555         0.930          1.049          0              0              0              45
  20  Egg             0.601          0.701          0.508          0              0              0              41
  21  Spatula         -1.970         0.716          -1.524         0              0              0              72
  22  Potato          0.877          0.916          -0.245         0              0              0              36
  23  Cup             -1.599         0.698          -3.614         0              0              0              63
  24  SaltShaker      -1.719         0.698          -1.416         0              0              0              72
  25  PepperShaker    -1.803         0.698          -0.983         0              0              0              72
  26  ButterKnife     0.803          0.883          -0.176         0              0              0              36
  27  DishSponge      -1.261         0.051          -3.574         0              270            0              51
  28  Bread           -1.719         0.745          -1.199         0              0              0              72
  29  Lettuce         -1.084         0.973          0.955          41.443         1.761          3.081          62
  30  Tomato          0.841          0.820          -0.625         0              270            0              59
  31  Spoon           0.901          0.666          0.569          0              0              0              41
  32  Knife           -0.453         0.923          1.272          0              0              0              62
  33  Mug             0.708          0.460          -2.035         0              270            0              56
  34  Bowl            0.676          0.014          -0.637         0              0              0              39
  35  Drawer          0.706          0.766          -0.125         0              0              0
  36  CounterTop      0.792          0.919          -0.108         0              0              0
  37  Mirror          1.093          1.602          -0.643         0              0              0
  38  StoveBurner     -2.096         0.890          0.785          0              0              0
  39  Cabinet         0.507          0.345          -0.426         0              0              0
  40  StoveBurner     -1.552         0.890          0.785          0              0              0
  41  SideTable       0.770          -0.030         0.443          0              0              0
  42  Sink            0.753          0.882          -0.680         0              0              0
  43  StoveBurner     -2.096         0.890          1.049          0              0              0
  44  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  45  StoveBurner     -1.554         0.890          1.049          0              0              0
  46  Cabinet         0.507          0.345          0.156          0              0              0
  47  Cabinet         0.717          1.822          -0.398         0              0              0
  48  Cabinet         0.717          1.822          0.669          0              0              0
  49  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  50  Toaster         -0.522         0.886          1.081          0              180            0
  51  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  52  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  53  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  54  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  55  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  56  Fridge          0.680          -0.031         -1.957         0              0              0
  57  Window          -2.424         1.639          -2.453         90             270            0
  58  Microwave       -1.994         0.690          -3.651         0              0              0
  59  SinkBasin       0.757          0.762          -0.688         0              270            0
  60  LightSwitch     1.102          1.368          -3.737         0              270            0
  61  Shelf           -0.350         0.124          0.857          0              0              0
  62  DiningTable     -0.350         -0.025         0.857          0              0              0
  63  DiningTable     -1.909         -0.032         -3.507         0              0              0
  64  Blinds          -2.343         2.151          -2.437         0              270            0
  65  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  66  AluminumFoil    0.751          0.225          0.287          0              0              0
  67  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  68  Shelf           0.771          0.226          0.445          0              0              0
  69  Shelf           0.771          0.456          0.446          0              0              0
  70  Faucet          1.025          0.873          -0.678         270            180            0
  71  Shelf           -0.350         0.497          0.857          0              0              0
  72  DiningTable     -1.929         -0.035         -1.398         0              90             0
  73  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  74  NorthWall
  75  EastWall
  76  SouthWall
  77  WestWall

Plan:
STEP 1: Take two steps forward, turn right and take four steps and stop in front of the fridge. | STEP 2: Open the fridge door and pick up the coffee mug from the second shelf then shut the fridge door. | STEP 3: Turn right for two steps, turn right again and take six steps, turn left to face the microwave.  | STEP 4: Open the microwave door, place the mug on the plate in the microwave, turn on the microwave for a few second, open the door, take out the mug and shut the door again. | STEP 5: Turn left and take three steps, take another left for six steps, turn right and walk to the counter and stand in front of the coffee machine. | STEP 6: Set the coffee cup on the design on the silver metal of the coffee machine. | END