Task: place a hot 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           0.5            0.900          0.0            0              0              0
   1  ButterKnife     1.762          0.910          0.467          0              180            0              39
   2  ButterKnife     1.726          0.911          -1.717         0              90             0              43
   3  Fork            1.757          0.911          1.180          0              90             0              39
   4  Spoon           1.865          0.912          -1.717         0              90             0              43
   5  Egg             -0.838         0.495          -1.476         0              0              0              66
   6  Cup             -0.741         1.681          -1.629         0              0              0              66
   7  SoapBottle      1.917          0.908          0.570          0              90             0              39
   8  SoapBottle      1.876          1.631          -1.119         0              0              0              51
   9  Tomato          -0.790         1.452          -1.559         0              0              0              66
  10  Tomato          1.800          0.134          1.731          0              270            0              57
  11  SaltShaker      1.245          0.905          1.180          0              90             0              39
  12  PepperShaker    1.684          0.905          0.622          0              90             0              39
  13  Lettuce         1.757          1.010          1.092          0              90             0              39
  14  Bread           1.796          0.988          -1.460         0              90             0              43
  15  Bread           1.501          0.987          1.092          0              90             0              39
  16  Mug             1.875          1.640          -1.683         0              0              0              53
  17  Plate           0.476          0.912          1.180          0              90             0              39
  18  SoapBottle      0.220          0.908          1.004          0              90             0              39
  19  Cup             1.733          2.135          0.805          0              0              0              47
  20  Egg             1.800          0.105          1.636          0              270            0              57
  21  Fork            0.476          0.911          0.827          0              180            0              39
  22  Ladle           1.805          1.698          -0.449         0              0              0              50
  23  Apple           -0.741         0.517          -1.541         0              0              0              66
  24  SaltShaker      0.988          0.905          1.004          0              90             0              39
  25  Pan             1.807          0.909          -0.320         0              180            0              41
  26  Tomato          1.839          0.974          0.415          0              90             0              39
  27  Spatula         0.732          0.925          0.915          0              180            0              39
  28  Potato          -0.838         1.131          -1.559         0              0              0              66
  29  Knife           1.170          0.792          -1.599         0              180            0              58
  30  ButterKnife     1.451          0.910          0.518          0              90             0              39
  31  Bread           1.615          0.977          0.761          0              50.525         0              39
  32  Lettuce         -0.741         0.846          -1.594         0              0              0              66
  33  PepperShaker    1.735          1.628          -1.119         0              0              0              51
  34  Pot             1.548          0.909          0.075          0              180            0              45
  35  DishSponge      0.652          0.910          -1.263         0              90             0              43
  36  Spoon           1.245          0.911          1.004          0              90             0              39
  37  Bowl            1.806          1.653          -0.050         0              0              0              49
  38  Mug             0.502          0.940          -1.460         0              0              0              65
  39  CounterTop      0.989          0.946          1.016          0              90             0
  40  StoveBurner     1.807          0.907          0.075          0              180            0
  41  StoveBurner     1.807          0.907          -0.320         0              180            0
  42  StoveBurner     1.543          0.907          -0.320         0              90             0
  43  CounterTop      0.989          0.946          -1.516         0              90             0
  44  Sink            1.100          0.906          -1.599         0              0              0
  45  StoveBurner     1.548          0.907          0.075          0              180            0
  46  Cabinet         1.658          2.299          1.313          0              0              0
  47  Cabinet         1.658          2.299          0.686          0              0              0
  48  Cabinet         1.658          2.049          0.673          0              0              0
  49  Cabinet         1.658          2.059          0.193          0              0              0
  50  Cabinet         1.658          2.059          -0.593         0              0              0
  51  Cabinet         1.658          2.049          -0.606         0              0              0
  52  Cabinet         1.658          2.049          -1.206         0              0              0
  53  Cabinet         1.658          2.049          -1.893         0              0              0
  54  Toaster         0.131          0.900          -1.589         0              0              0
  55  Window          -0.372         1.588          3.349          90             0              0
  56  Window          0.782          1.741          -1.893         90             0              0
  57  GarbageCan      1.770          -0.029         1.685          0              270            0
  58  SinkBasin       1.091          0.740          -1.599         0              0              0
  59  StoveKnob       1.364          0.821          0.086          48.421         270            0
  60  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  61  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  62  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  63  Microwave       1.752          0.900          -0.843         0              270            0
  64  LightSwitch     2.0            1.261          3.094          0              270            0
  65  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  66  Fridge          -0.533         0.0            -1.554         0              0              0
  67  Chair           1.068          0.000          1.752          0              191.622        0
  68  Faucet          1.110          1.138          -1.764         0              270            0
  69  Chair           0.357          0.000          1.710          0              178.899        0
  70  NorthWall
  71  EastWall
  72  SouthWall
  73  WestWall

Plan:
STEP 1: turn around towards the coffee maker | STEP 2: pick up the mug from the coffee maker | STEP 3: turn left and head towards the microwave oven | STEP 4: place the mug in the microwave oven to boil for five minutes and take it out | STEP 5: turn around and head for the coffee maker | STEP 6: place the mug back on the coffee maker | END