Task: Heat mug in microwave to make new coffee on machine

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          -0.5           0              90             0
   1  DishSponge      -2.621         0.910          1.230          0              0              0              80
   2  DishSponge      1.598          0.910          0.376          0              0              0              61
   3  ButterKnife     -0.601         0.910          1.317          0              0              0              52
   4  ButterKnife     -2.289         0.910          1.830          0              0              0              80
   5  Kettle          1.411          0.929          0.064          0              0              0              81
   6  Fork            1.684          0.911          0.465          0              0              0              61
   7  Spoon           -2.318         0.774          0.809          0              90             0              57
   8  Egg             -2.513         0.625          -0.872         0              90             0              84
   9  Egg             -2.439         1.119          -0.979         0              90             0              84
  10  Cup             1.318          0.918          -1.204         0              225            0              66
  11  Cup             -2.349         0.112          1.267          0              0              0              58
  12  Plate           -2.621         0.913          0.631          0              0              0              80
  13  Plate           -0.471         0.913          1.540          0              0              0              52
  14  Knife           -2.318         0.798          0.391          0              90             0              69
  15  Knife           1.364          0.943          -1.088         0              225            0              66
  16  Tomato          -2.420         0.637          -0.872         0              90             0              84
  17  Tomato          1.604          0.227          0.706          0              0              0              91
  18  SoapBottle      -0.730         0.912          1.094          0              0              0              52
  19  SoapBottle      1.469          0.924          -1.193         0              225            0              66
  20  Bowl            -2.572         1.930          -0.918         0              0              0              73
  21  Bowl            -2.605         1.534          1.265          0              0              0              65
  22  PepperShaker    1.734          1.651          0.313          0              0              0              71
  23  PepperShaker    0.793          0.905          -1.552         0              45             0              62
  24  SaltShaker      1.426          0.906          0.435          0              0              0              61
  25  SaltShaker      -2.349         0.109          1.475          0              0              0              58
  26  Lettuce         -2.455         0.994          0.931          0              0              0              80
  27  Mug             0.229          1.658          -1.729         0              90             0              59
  28  Apple           0.737          0.972          -1.403         0              45             0              62
  29  Pan             1.691          0.929          0.064          0              0              0              63
  30  Knife           -2.227         0.798          0.391          0              90             0              69
  31  Apple           -2.374         0.656          -1.051         0              90             0              84
  32  Bowl            -2.605         1.534          0.198          0              0              0              75
  33  Fork            -2.455         0.911          0.631          0              90             0              80
  34  Bread           -0.471         0.996          1.094          0              0              0              52
  35  Plate           -0.341         0.913          0.647          0              0              0              52
  36  Egg             1.488          0.949          -1.104         0              225            0              66
  37  Kettle          -2.538         0.911          0.031          0              0              0              80
  38  Potato          -2.485         1.336          -0.602         0              90             0              84
  39  SaltShaker      1.052          0.905          -1.039         0              45             0              66
  40  Lettuce         -0.081         0.994          1.764          0              0              0              52
  41  Cup             -2.538         1.013          2.481          0              90             0              92
  42  SoapBottle      -2.289         0.912          1.230          0              0              0              80
  43  Spatula         -0.341         0.925          1.540          0              180            0              52
  44  PaperTowelRoll  1.625          1.015          -1.022         0              45             0              62
  45  ButterKnife     -2.372         0.910          0.031          0              0              0              80
  46  PepperShaker    1.698          1.658          -0.407         0              0              0              72
  47  DishSponge      -2.564         1.537          2.404          0              0              0              56
  48  Pot             1.412          0.929          -0.335         0              0              0              53
  49  Spoon           -2.455         0.912          1.530          0              0              0              80
  50  Tomato          -0.081         0.953          0.423          0              0              0              52
  51  Mug             -2.485         1.295          -0.979         0              90             0              84
  52  CounterTop      -0.360         0.946          1.093          0              0              0
  53  StoveBurner     1.412          0.923          -0.335         0              0              0
  54  StoveKnob       1.878          1.093          0.018          287.989        90             0
  55  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  56  Cabinet         -2.446         1.948          2.924          0              0              0
  57  Drawer          -2.276         0.792          0.902          0              0              0
  58  Cabinet         -2.145         0.402          1.578          0              0              0
  59  Cabinet         0.149          2.008          -1.603         0              90             0
  60  StoveBurner     1.691          0.923          -0.335         0              0              0
  61  CounterTop      1.585          0.946          0.405          0              0              0
  62  CounterTop      0.474          0.946          -1.625         0              0              0
  63  StoveBurner     1.691          0.923          0.064          0              0              0
  64  Cabinet         -2.446         1.948          1.687          0              0              0
  65  Cabinet         -2.446         1.948          1.640          0              0              0
  66  Sink            1.381          0.810          -1.271         0              225            0
  67  StoveKnob       1.878          1.093          0.150          287.989        90             0
  68  Cabinet         -2.145         0.402          -0.236         0              0              0
  69  Drawer          -2.276         0.792          0.437          0              0              0
  70  Drawer          -2.276         0.792          -0.027         0              0              0
  71  Cabinet         1.572          2.008          0.474          0              0              0
  72  Cabinet         1.572          2.008          -0.775         0              0              0
  73  Cabinet         -2.445         2.148          -1.275         0              0              0
  74  Cabinet         -2.446         2.148          -0.284         0              0              0
  75  Cabinet         -2.446         1.948          0.355          0              0              0
  76  Cabinet         -2.446         1.948          0.405          0              0              0
  77  Cabinet         -2.145         0.402          0.644          0              0              0
  78  Cabinet         -2.145         0.402          0.695          0              0              0
  79  Cabinet         -2.285         1.968          -1.325         0              180            0
  80  CounterTop      -1.485         0.946          1.319          0              0              0
  81  StoveBurner     1.411          0.923          0.064          0              0              0
  82  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  83  Drawer          -2.276         0.792          1.368          0              0              0
  84  Fridge          -2.475         0.0            -0.782         0              90             0
  85  LightSwitch     -0.929         1.350          -1.950         0              0              0
  86  Toaster         -2.564         0.900          1.876          0              90             0
  87  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  88  Window          1.508          1.534          -1.496         90             135            0
  89  Window          1.973          1.521          1.121          90             90             0
  90  SinkBasin       1.149          0.753          -1.380         0              225            0
  91  GarbageCan      1.646          -0.000         0.679          0              0              0
  92  Microwave       -2.580         0.900          2.440          0              90             0
  93  Stool           0.439          0.010          0.747          0              0              0
  94  Stool           -2.303         0.010          1.839          0              0              0
  95  Faucet          1.235          1.138          -1.473         0              225            0
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: Turn around to the fridge | STEP 2: Open fridge,  pull out mug in fridge | STEP 3: Take right, walk to wall | STEP 4: Take left, microwave mug, pull out of microwave | STEP 5: Turn around, walk to edge of counter, take right  | STEP 6: Place mug on coffee machine  | END