Task: Put 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           1.25           0.900          1.25           0              0              0
   1  Potato          -1.692         0.586          0.013          0              90             0              102
   2  CellPhone       1.815          0.457          0.599          0              0              0              73
   3  CellPhone       1.661          0.235          -0.088         0              0              0              62
   4  Kettle          0.321          0.926          -0.190         0              0              0              87
   5  Kettle          1.924          1.660          -0.977         0              270            0              67
   6  DishSponge      1.661          0.349          -0.157         0              0              0              75
   7  DishSponge      -0.175         0.760          -1.546         0              0              0              103
   8  ButterKnife     -1.551         0.911          -0.914         0              0              0              79
   9  ButterKnife     -0.106         0.925          1.202          0              0              0              87
  10  Fork            0.321          0.926          0.506          0              0              0              87
  11  Pot             -0.305         0.118          -1.409         0              0              0              58
  12  Pot             0.000          0.929          0.041          0              0              0              87
  13  Egg             1.813          0.968          1.408          0              0              0              79
  14  Cup             1.802          0.909          -1.415         0              0              0              79
  15  Cup             -1.197         0.111          -1.423         0              0              0              91
  16  Plate           1.195          0.107          -1.416         0              0              0              72
  17  Plate           1.802          0.910          -1.610         0              0              0              79
  18  Knife           -1.814         0.933          -1.113         0              0              0              79
  19  Knife           -0.213         0.947          0.041          0              90             0              87
  20  SoapBottle      -1.105         0.117          -1.550         0              0              0              91
  21  SoapBottle      -0.213         0.929          0.970          0              0              0              87
  22  Tomato          0.083          0.815          -1.380         0              0              0              103
  23  Bowl            -0.213         0.924          0.738          0              0              0              87
  24  Bowl            -0.744         1.678          -1.577         0              0              0              81
  25  SaltShaker      0.107          0.921          0.970          0              0              0              87
  26  PepperShaker    -1.803         1.658          -1.131         0              90             0              66
  27  PepperShaker    0.107          0.921          1.202          0              0              0              87
  28  Bread           -1.668         0.992          -1.513         0              0              0              79
  29  Bread           -1.750         1.756          -0.175         0              90             0              102
  30  Lettuce         -1.803         1.545          0.201          0              90             0              102
  31  Lettuce         -1.750         1.753          0.201          0              90             0              102
  32  Mug             -0.088         0.755          -1.324         0              0              0              103
  33  Mug             -1.290         0.108          -1.550         0              0              0              91
  34  SoapBottle      -1.244         0.117          -1.296         0              0              0              91
  35  Cup             -0.175         0.758          -1.435         0              0              0              103
  36  Pot             1.975          0.938          0.601          0              180            0              74
  37  Fork            0.661          0.912          -1.221         0              0              0              60
  38  Ladle           0.889          0.955          -1.221         0              0              0              79
  39  Kettle          -1.880         1.663          -0.980         0              90             0              66
  40  Egg             -1.773         0.098          1.33           0              270            0              93
  41  Plate           -1.814         0.910          -0.964         0              0              0              79
  42  Pan             -1.286         0.9            -1.348         0              79.769         0              79
  43  Lettuce         0.214          1.002          0.506          0              0              0              87
  44  Spatula         2.073          0.926          1.258          0              0              0              79
  45  Apple           1.640          0.964          1.032          0              0              0              79
  46  Knife           1.769          0.142          0.745          0              0              0              71
  47  SaltShaker      2.030          0.907          -1.221         0              0              0              79
  48  PepperShaker    0.107          0.921          0.273          0              0              0              87
  49  CellPhone       1.762          0.223          1.088          0              0              0              88
  50  ButterKnife     1.713          0.346          0.599          0              0              0              73
  51  Bread           -0.320         1.006          0.041          0              0              0              87
  52  Tomato          0.000          0.980          0.273          0              0              0              87
  53  Potato          -1.645         1.492          -0.269         0              90             0              102
  54  DishSponge      1.769          0.119          0.454          0              270            0              71
  55  Spoon           1.769          0.584          -0.238         0              0              0              64
  56  Mug             1.355          0.955          -1.362         0              0              0              101
  57  Bowl            1.956          1.004          -0.651         0              270            0              100
  58  Cabinet         -0.495         0.474          -1.149         0              0              0
  59  Window          -0.010         1.582          -1.821         0              0              0
  60  Drawer          0.805          0.475          -1.159         0              0              0
  61  StoveBurner     1.764          0.902          0.601          0              270            0
  62  Drawer          1.5            0.196          -0.019         0              0              0
  63  Drawer          1.5            0.629          -0.018         0              0              0
  64  Drawer          1.5            0.602          -0.019         0              270            0
  65  StoveBurner     1.975          0.902          0.384          0              270            0
  66  Cabinet         -1.703         2.022          -1.453         0              90             0
  67  Cabinet         1.789          2.019          -0.819         0              270            0
  68  Cabinet         0.494          0.474          -1.149         0              0              0
  69  Cabinet         0.409          0.475          0.444          0              0              0
  70  Drawer          -0.696         0.475          -1.159         0              0              0
  71  Drawer          1.5            0.140          0.599          0              270            0
  72  Cabinet         1.389          0.474          -1.149         0              0              0
  73  Drawer          1.5            0.305          0.600          0              0              0
  74  StoveBurner     1.975          0.902          0.601          0              270            0
  75  Drawer          1.5            0.429          -0.019         0              0              0
  76  StoveBurner     1.764          0.902          0.819          0              270            0
  77  Drawer          1.5            0.519          1.220          0              0              0
  78  Cabinet         1.705          2.019          -1.449         0              0              0
  79  CounterTop      0.002          0.947          -1.513         0              0              0
  80  Drawer          1.5            0.629          0.605          0              0              0
  81  Cabinet         -0.627         2.019          -1.449         0              0              0
  82  StoveBurner     1.764          0.902          0.384          0              270            0
  83  Drawer          1.5            0.538          0.600          0              0              0
  84  Sink            0.0            0.893          -1.434         0              0              0
  85  Drawer          1.5            0.782          1.220          0              270            0
  86  Window          2.217          1.565          -0.384         0              0              0
  87  CounterTop      -0.014         0.961          0.505          0              0              0
  88  Drawer          1.5            0.200          1.220          0              0              0
  89  StoveBurner     1.975          0.902          0.819          0              270            0
  90  Window          -3.240         1.616          2.693          0              270            0
  91  Cabinet         -1.389         0.474          -1.149         0              0              0
  92  LightSwitch     -0.153         1.291          3.700          0              180            0
  93  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  94  StoveKnob       1.602          0.917          0.570          0              270            180
  95  StoveKnob       1.602          0.917          0.625          0              270            180
  96  StoveKnob       1.602          0.917          0.739          0              270            180
  97  StoveKnob       1.602          0.917          0.680          0              270            180
  98  StoveKnob       1.602          0.917          0.462          0              270            180
  99  StoveKnob       1.602          0.917          0.517          0              270            180
 100  Microwave       1.932          0.899          -0.766         0              270            0
 101  CoffeeMachine   1.355          0.899          -1.596         0              0              0
 102  Fridge          -1.764         0.0            0.014          0              90             0
 103  SinkBasin       -0.014         0.736          -1.435         0              0              0
 104  Toaster         1.977          0.900          -0.336         0              270            0
 105  Faucet          -0.020         1.137          -1.605         0              270            0
 106  Chair           -9.354         0.000          1.242          0              180            0
 107  NorthWall
 108  EastWall
 109  SouthWall
 110  WestWall

Plan:
STEP 1: Turn around and head to the coffee machine on the counter. | STEP 2: Pick up the mug from the coffee machine. | STEP 3: Bring the mug to the microwave on the left. | STEP 4: Heat the mug in the microwave. | STEP 5: Bring the heated mug to the coffee machine on the right.  | STEP 6: Put the heated mug on the coffee machine.  | END