Task: Warm up a mug to get it ready for coffee.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.901          4.5            0              90             0
   1  ButterKnife     -0.228         0.900          2.731          0              0              0              74
   2  Spatula         -2.583         0.897          2.045          0              0              0              72
   3  Spatula         -0.400         0.915          2.329          0              0              0              74
   4  Pot             -0.314         0.900          3.334          0              0              0              74
   5  Egg             -0.572         0.933          2.731          0              0              0              74
   6  Cup             -2.785         0.298          4.649          0              90             0              68
   7  Plate           -2.191         1.777          0.160          0              0              0              47
   8  Knife           -2.628         0.961          3.209          0              0              0              58
   9  Knife           -2.323         0.688          0.355          0              90             0              59
  10  SoapBottle      -0.572         0.900          3.535          0              0              0              74
  11  SoapBottle      -2.943         0.935          3.302          0              90             0              58
  12  Tomato          -1.007         0.859          0.392          0              0              0              69
  13  Tomato          -1.637         0.992          0.518          0              0              0              51
  14  Bowl            -0.747         1.770          0.205          0              0              0              49
  15  Lettuce         -0.314         0.980          2.731          0              180            0              74
  16  Lettuce         -2.847         1.266          4.278          0              90             0              68
  17  Apple           -0.191         1.079          0.235          0              0              0              70
  18  Apple           -0.350         1.074          0.203          0              0              0              70
  19  Egg             -1.266         0.829          0.226          0              0              0              69
  20  Plate           -2.785         0.303          4.278          0              90             0              68
  21  Fork            -1.094         0.796          0.392          0              270            0              69
  22  Bread           -2.869         0.940          1.981          0              0              1.063          72
  23  Apple           -2.888         1.242          4.575          0              90             0              68
  24  Lettuce         -2.831         0.378          4.501          0              90             0              68
  25  Spatula         -2.686         0.915          2.573          0              90             0              72
  26  Knife           -2.583         0.926          2.441          0              0              0              72
  27  Potato          -1.007         0.822          0.281          0              0              0              69
  28  Tomato          -2.549         0.999          3.673          0              0              0              58
  29  Cup             -2.480         0.900          2.573          0              0              0              72
  30  SaltShaker      -1.801         1.769          0.297          0              0              0              46
  31  PepperShaker    -0.380         0.658          0.245          0              0              0              40
  32  ButterKnife     -0.228         0.900          2.932          0              0              0              74
  33  SoapBottle      -2.833         0.053          0.419          0              26.101         0              65
  34  Pan             -0.250         0.926          4.651          0              0              0              53
  35  DishSponge      -2.583         0.900          2.309          0              0              0              72
  36  Pot             -0.535         0.928          4.274          0              0              0              55
  37  Spoon           -2.437         0.929          0.518          0              0              0              51
  38  Mug             -2.170         0.923          0.602          0              0              0              51
  39  Bowl            -2.377         0.897          2.309          0              0              0              72
  40  Drawer          -0.325         0.696          0.413          0              0              0
  41  Cabinet         -0.595         0.490          0.648          0              0              0
  42  Cabinet         -0.555         0.490          0.646          0              0              0
  43  Cabinet         -1.591         0.490          0.646          0              0              0
  44  Cabinet         -1.554         0.490          0.646          0              0              0
  45  Cabinet         -2.550         0.490          0.646          0              0              0
  46  Cabinet         -1.514         2.046          0.392          0              0              0
  47  Cabinet         -2.474         2.046          0.392          0              0              0
  48  Cabinet         -1.478         2.046          0.392          0              0              0
  49  Cabinet         -0.518         2.046          0.392          0              0              0
  50  Cabinet         -0.479         2.046          0.392          0              0              0
  51  CounterTop      -1.366         0.952          0.349          0              0              0
  52  Sink            -1.108         0.926          0.340          0              0              0
  53  StoveBurner     -0.254         0.922          4.672          0              0              0
  54  Drawer          -1.824         0.696          0.413          0              0              0
  55  StoveBurner     -0.535         0.922          4.274          0              0              0
  56  StoveBurner     -0.254         0.922          4.274          0              0              0
  57  StoveBurner     -0.536         0.922          4.672          0              0              0
  58  CounterTop      -2.780         0.971          3.487          0              0              0
  59  Drawer          -2.323         0.696          0.413          0              0              0
  60  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  61  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  64  Toaster         -0.286         0.861          3.520          0              270            0
  65  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  66  LightSwitch     -0.064         1.447          1.996          0              270            0
  67  Window          -3.075         1.593          1.361          90             90             0
  68  Fridge          -2.802         0.0            4.427          0              0              0
  69  SinkBasin       -1.106         0.785          0.337          0              0              0
  70  Microwave       -0.358         0.917          0.224          0              0              0
  71  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  72  DiningTable     -2.733         -0.003         2.607          0              270            0
  73  Faucet          -1.077         0.920          0.028          270            270            0
  74  DiningTable     -0.488         -0.003         3.182          0              270            0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: Turn right and walk to the kitchen counter across the room.  | STEP 2: Pick up the coffee mug that's next to the spoon.  | STEP 3: Walk to the other side of the sink at the same counter and stop in front of the microwave.  | STEP 4: Open the microwave door, place the mug inside of the microwave next to the eggs, close the microwave door, open the microwave door when the light goes off, take the mug out of the microwave, and close the microwave door.  | STEP 5: Turn around, walk across the kitchen, and stop at the coffee maker that is on the counter next to the fridge on the left.  | STEP 6: Place the mug in the coffee maker under the area that says "serve".  | END