Task: Warm a cup to make coffee

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.930          0.5            0              90             0
   1  Potato          -0.748         0.938          -0.881         0              45             0              65
   2  Ladle           3.070          0.749          0.829          0              270            0              87
   3  Ladle           0.967          0.947          0.889          0              0              0              96
   4  DishSponge      1.208          1.674          -1.550         0              0              0              56
   5  DishSponge      -0.909         0.130          -0.273         0              0              0              85
   6  ButterKnife     -0.868         0.518          1.430          0              0              0              53
   7  ButterKnife     1.098          0.908          0.605          0              0              0              96
   8  Pot             1.491          0.908          0.605          0              0              0              96
   9  Spatula         -0.285         0.915          -1.450         0              135            0              86
  10  Fork            0.533          0.908          0.326          0              0              0              96
  11  Fork            -0.053         0.900          -1.682         0              45             0              86
  12  CellPhone       -0.827         0.128          0.664          0              0              0              95
  13  CellPhone       -0.909         0.704          -0.361         0              0              0              72
  14  Apple           0.105          0.974          -1.430         0              45             0              86
  15  Bread           -0.862         0.979          -0.047         0              0              0              65
  16  SaltShaker      0.336          0.896          -1.588         0              0              0              86
  17  SaltShaker      -0.909         0.322          1.693          0              0              0              100
  18  PepperShaker    -0.214         1.259          -1.619         0              45             0              82
  19  PepperShaker    -1.015         0.896          -0.719         0              45             0              65
  20  Tomato          0.095          0.937          -1.625         0              45             0              86
  21  Egg             -0.833         0.952          -0.695         0              45             0              65
  22  Cup             1.242          1.071          -1.475         0              0              0              111
  23  Cup             -0.731         0.898          -0.489         0              45             0              65
  24  Plate           3.031          1.477          -1.235         0              0              0              79
  25  Knife           0.950          0.933          0.447          0              36.810         0              96
  26  Plate           3.113          1.477          -1.648         0              0              0              63
  27  Glassbottle     3.244          1.465          -1.235         0              0              0              79
  28  SoapBottle      -0.844         1.267          -0.785         0              45             0              84
  29  Potato          1.086          0.924          -1.531         0              0              0              111
  30  Fork            3.122          0.901          -0.599         0              0              0              64
  31  Ladle           -0.745         0.168          0.664          0              90             0              95
  32  Pot             -0.420         0.902          -0.920         0              135            0              60
  33  Kettle          -0.237         0.900          -1.099         0              45             0              94
  34  Spatula         -0.786         0.721          1.343          0              0              0              58
  35  Knife           0.710          0.936          0.627          0              0              0              96
  36  Lettuce         -0.043         0.965          -1.486         0              45             0              86
  37  Cup             1.164          0.709          -1.433         0              0              0              111
  38  SaltShaker      1.064          1.671          -1.550         0              0              0              56
  39  Egg             3.07           0.805          0.098          0              90             0              110
  40  PepperShaker    0.415          0.896          -1.660         0              0              0              43
  41  ButterKnife     0.110          0.900          -1.332         0              45             0              86
  42  Apple           1.008          1.321          -1.475         0              0              0              111
  43  Pan             0.341          0.873          -1.649         0              167.065        0              86
  44  Bread           -0.862         0.979          0.623          0              0              0              65
  45  CellPhone       3.070          0.710          -0.863         0              180            0              52
  46  DishSponge      3.152          0.746          0.165          0              90             0              110
  47  Tomato          1.008          0.748          -1.354         0              0              0              111
  48  Spoon           3.029          0.713          0.761          0              0              0              87
  49  Bowl            3.212          1.261          -0.854         0              0              0              78
  50  Mug             0.851          1.068          -1.475         0              0              0              111
  51  Drawer          0.376          0.572          -1.509         0              0              0
  52  Drawer          3.020          0.769          -0.783         0              180            0
  53  Drawer          -0.860         0.577          1.429          0              0              0
  54  StoveBurner     -0.600         0.897          -1.090         0              135            0
  55  Drawer          0.376          0.191          -1.509         0              0              0
  56  Cabinet         1.402          1.874          -1.259         0              0              0
  57  Cabinet         -0.202         1.963          -1.328         0              0              0
  58  Drawer          -0.860         0.765          1.429          0              0              0
  59  Drawer          -0.677         0.765          -0.700         0              0              0
  60  StoveBurner     -0.420         0.897          -0.920         0              135            0
  61  Drawer          3.020          0.769          -0.407         0              180            0
  62  Drawer          -0.860         0.577          0.663          0              0              0
  63  Cabinet         2.819          1.768          -1.850         0              0              0
  64  CounterTop      3.111          0.936          0.019          0              0              0
  65  CounterTop      -1.007         0.935          -0.039         0              0              0
  66  Drawer          -0.860         0.385          0.663          0              0              0
  67  StoveBurner     -0.419         0.897          -1.269         0              315            0
  68  Drawer          -0.047         0.573          -1.324         0              0              0
  69  Drawer          -0.860         0.765          0.663          0              0              0
  70  Drawer          -0.860         0.385          -0.100         0              0              0
  71  Drawer          0.376          0.380          -1.509         0              0              0
  72  Drawer          -0.860         0.765          -0.100         0              0              0
  73  Drawer          0.376          0.765          -1.509         0              0              0
  74  Cabinet         2.849          0.419          0.409          0              0              0
  75  Drawer          -0.047         0.765          -1.324         0              0              0
  76  Cabinet         2.849          0.419          -0.610         0              0              0
  77  Cabinet         2.849          0.419          -0.959         0              0              0
  78  Cabinet         3.069          1.666          -0.709         0              0              0
  79  Cabinet         2.819          1.768          -1.047         0              0              0
  80  Cabinet         0.620          1.874          -1.259         0              0              0
  81  Cabinet         0.140          1.666          -1.559         0              0              0
  82  Cabinet         -0.189         1.666          -1.340         0              0              0
  83  Cabinet         -0.709         1.963          -0.819         0              0              0
  84  Cabinet         -0.920         1.665          -0.620         0              0              0
  85  Drawer          -0.860         0.190          -0.100         0              0              0
  86  CounterTop      0.133          0.935          -1.457         0              0              0
  87  Drawer          3.020          0.769          0.695          0              180            0
  88  Drawer          -0.677         0.577          -0.700         0              0              0
  89  Drawer          -0.860         0.190          1.429          0              0              0
  90  Drawer          -0.047         0.192          -1.324         0              0              0
  91  Drawer          -0.677         0.193          -0.700         0              0              0
  92  Drawer          -0.860         0.577          -0.100         0              0              0
  93  Sink            3.078          0.887          0.086          0              0              0
  94  StoveBurner     -0.239         0.897          -1.089         0              315            0
  95  Drawer          -0.860         0.190          0.663          0              0              0
  96  CounterTop      1.210          0.937          0.463          0              0              0
  97  Drawer          -0.047         0.381          -1.324         0              0              0
  98  Drawer          -0.677         0.387          -0.700         0              0              0
  99  Mirror          -1.295         1.630          0.045          0              0              0
 100  Drawer          -0.860         0.385          1.429          0              0              0
 101  HousePlant      3.196          0.891          -0.368         0              0              0
 102  StoveKnob       -0.090         0.790          -1.009         270            45             0
 103  StoveKnob       -0.280         0.790          -0.819         270            45             0
 104  StoveKnob       -0.180         0.790          -0.920         270            45             0
 105  StoveKnob       -0.370         0.790          -0.720         270            45             0
 106  GarbageCan      3.137          0.025          1.545          0              225            0
 107  Window          3.703          1.675          0.046          90             90             0
 108  CoffeeMachine   3.214          0.890          0.697          0              270            0
 109  LightSwitch     2.592          1.309          -1.880         0              0              0
 110  SinkBasin       3.069          0.736          0.108          0              90             0
 111  Fridge          1.008          0.029          -1.467         0              0              0
 112  Toaster         -1.035         0.873          -0.396         0              90             0
 113  Microwave       -1.034         0.874          1.428          0              90             0
 114  Faucet          3.305          0.886          0.094          270            180            0
 115  NorthWall
 116  EastWall
 117  SouthWall
 118  WestWall

Plan:
STEP 1: Turn right, go forward, turn left, go a bit forward, turn right and go to the fridge | STEP 2: Open the fridge, pick up the mug in the fridge, close the fridge | STEP 3: Turn around, go forward, turn left, go forward a bit, turn right, go forward, turn left at the microwave | STEP 4: Open the microwave, put the mug in it, close the microwave, start the microwave, wait, open the microwave, pick up the mug, close the microwave | STEP 5: Turn left, go around the table in the middle, turn right at the end of the counter | STEP 6: Put the mug in the coffee maker | END