Task: Put a mug under 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           -1.0           0.900          3.0            0              0              0
   1  Potato          0.083          0.784          -1.324         0              0              0              91
   2  CellPhone       2.030          0.909          -1.513         0              0              0              67
   3  Ladle           -0.867         1.724          -1.614         0              0              0              69
   4  Kettle          -0.320         0.926          -0.190         0              0              0              75
   5  Kettle          0.214          0.926          0.970          0              0              0              75
   6  ButterKnife     -1.814         0.911          -1.063         0              0              0              67
   7  ButterKnife     -0.088         0.760          -1.435         0              0              0              91
   8  Fork            1.714          0.583          -0.238         0              0              0              52
   9  Fork            -0.213         0.926          0.506          0              0              0              75
  10  Spoon           1.713          0.227          0.462          0              0              0              61
  11  Egg             -1.803         1.732          -0.175         0              90             0              90
  12  Knife           1.764          0.492          -0.088         0              0              0              63
  13  Tomato          -1.796         0.097          1.371          0              270            0              81
  14  Bowl            -1.244         0.111          -1.296         0              0              0              79
  15  Bowl            -0.106         0.924          0.970          0              0              0              75
  16  SaltShaker      1.860          0.691          -0.210         0              0              0              51
  17  Mug             1.355          0.955          -1.362         0              0              0              89
  18  Mug             1.885          1.654          -0.902         0              270            0              55
  19  Mug             0.305          0.107          -1.220         0              270            0              56
  20  Apple           -0.261         0.814          -1.490         0              0              0              91
  21  Apple           -0.213         0.978          0.738          0              0              0              75
  22  SoapBottle      -1.462         0.915          -1.707         0              0              0              67
  23  Cup             -1.663         0.561          -0.269         0              90             0              90
  24  Pot             0.107          0.929          0.506          0              0              0              75
  25  Fork            1.574          0.912          -1.318         0              0              0              67
  26  Ladle           0.250          0.157          -1.471         0              0              0              56
  27  Kettle          1.765          0.938          0.819          0              180            0              64
  28  Egg             -1.753         1.086          0.201          0              90             0              90
  29  Plate           1.962          1.658          -1.129         0              270            0              55
  30  Pan             1.765          0.938          0.384          0              180            0              70
  31  Lettuce         -1.050         0.988          -1.318         0              0              0              67
  32  Spatula         1.760          0.704          -0.145         0              90             0              51
  33  Apple           -1.814         0.964          -0.864         0              0              0              67
  34  Knife           1.932          0.933          0.103          0              270            0              67
  35  SaltShaker      1.313          0.105          -1.226         0              0              0              60
  36  PepperShaker    0.305          0.109          -1.345         0              0              0              56
  37  CellPhone       -0.106         0.923          0.273          0              0              0              75
  38  ButterKnife     1.712          0.545          1.284          0              0              0              65
  39  Bread           1.726          0.992          1.333          0              0              0              67
  40  Tomato          -1.697         1.524          0.295          0              90             0              90
  41  Potato          -1.663         0.586          0.295          0              90             0              90
  42  DishSponge      -1.880         1.661          -1.207         0              90             0              54
  43  Spoon           1.760          0.696          0.672          0              0              0              68
  44  Mug             0.170          0.755          -1.435         0              0              0              91
  45  Bowl            -1.645         1.467          0.107          0              90             0              90
  46  Cabinet         -0.495         0.474          -1.149         0              0              0
  47  Window          -0.010         1.582          -1.821         0              0              0
  48  Drawer          0.805          0.475          -1.159         0              0              0
  49  StoveBurner     1.764          0.902          0.601          0              270            0
  50  Drawer          1.5            0.196          -0.019         0              0              0
  51  Drawer          1.5            0.629          -0.018         0              0              0
  52  Drawer          1.5            0.602          -0.019         0              270            0
  53  StoveBurner     1.975          0.902          0.384          0              270            0
  54  Cabinet         -1.703         2.022          -1.453         0              90             0
  55  Cabinet         1.789          2.019          -0.819         0              270            0
  56  Cabinet         0.494          0.474          -1.149         0              0              0
  57  Cabinet         0.409          0.475          0.444          0              0              0
  58  Drawer          -0.696         0.475          -1.159         0              0              0
  59  Drawer          1.5            0.140          0.599          0              270            0
  60  Cabinet         1.389          0.474          -1.149         0              0              0
  61  Drawer          1.5            0.305          0.600          0              0              0
  62  StoveBurner     1.975          0.902          0.601          0              270            0
  63  Drawer          1.5            0.429          -0.019         0              0              0
  64  StoveBurner     1.764          0.902          0.819          0              270            0
  65  Drawer          1.5            0.519          1.220          0              0              0
  66  Cabinet         1.705          2.019          -1.449         0              0              0
  67  CounterTop      0.002          0.947          -1.513         0              0              0
  68  Drawer          1.5            0.629          0.605          0              0              0
  69  Cabinet         -0.627         2.019          -1.449         0              0              0
  70  StoveBurner     1.764          0.902          0.384          0              270            0
  71  Drawer          1.5            0.538          0.600          0              0              0
  72  Sink            0.0            0.893          -1.434         0              0              0
  73  Drawer          1.5            0.782          1.220          0              270            0
  74  Window          2.217          1.565          -0.384         0              0              0
  75  CounterTop      -0.014         0.961          0.505          0              0              0
  76  Drawer          1.5            0.200          1.220          0              0              0
  77  StoveBurner     1.975          0.902          0.819          0              270            0
  78  Window          -3.240         1.616          2.693          0              270            0
  79  Cabinet         -1.389         0.474          -1.149         0              0              0
  80  LightSwitch     -0.153         1.291          3.700          0              180            0
  81  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  82  StoveKnob       1.602          0.917          0.570          0              270            180
  83  StoveKnob       1.602          0.917          0.625          0              270            180
  84  StoveKnob       1.602          0.917          0.739          0              270            180
  85  StoveKnob       1.602          0.917          0.680          0              270            180
  86  StoveKnob       1.602          0.917          0.462          0              270            180
  87  StoveKnob       1.602          0.917          0.517          0              270            180
  88  Microwave       1.932          0.899          -0.766         0              270            0
  89  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  90  Fridge          -1.764         0.0            0.014          0              90             0
  91  SinkBasin       -0.014         0.736          -1.435         0              0              0
  92  Toaster         1.977          0.900          -0.336         0              270            0
  93  Faucet          -0.020         1.137          -1.605         0              270            0
  94  Chair           -9.354         0.000          1.242          0              180            0
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: Turn around and cross the room to stand in front of the coffee maker. | STEP 2: Pick the cup up from under the coffee maker. | STEP 3: Turn to the left and face the microwave. | STEP 4: Put the cup in the microwave and turn it on and then open the microwave and take the cup out. | STEP 5: Turn to the right and face the coffee machine. | STEP 6: Put the cup under the coffee machine on the counter. | END