Task: Place the warm mug under 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          -0.25          0              180            0
   1  Pan             -2.59          0.9            -1.147         0              0              0              75
   2  Potato          -0.598         0.933          -1.119         0              47.530         0              75
   3  CreditCard      -1.948         0.743          -1.094         0              0              0              70
   4  CreditCard      -2.585         0.743          0.226          0              0              0              75
   5  DishSponge      -1.073         0.851          -1.305         0              0              0              85
   6  Kettle          0.490          1.112          1.075          0              315            0              68
   7  Kettle          -2.236         0.912          -1.282         0              0              0              75
   8  Spoon           0.842          0.912          -1.115         0              0              0              75
   9  Spoon           -2.521         0.912          0.021          0              0              0              67
  10  Fork            -1.332         0.850          -1.194         0              0              0              85
  11  Fork            -1.418         0.852          -1.305         0              90             0              85
  12  Spatula         0.253          1.126          1.768          0              315            0              68
  13  Cup             -0.998         0.115          -0.994         0              0              0              48
  14  Plate           -2.860         0.821          0.851          0              90             0              87
  15  Egg             -1.073         0.886          -1.084         0              0              0              85
  16  Egg             0.398          1.044          -1.248         0              0              0              88
  17  Knife           0.221          1.134          1.499          0              45             0              68
  18  SoapBottle      -0.450         0.912          -0.948         0              0              0              75
  19  Bowl            -2.680         1.672          0.771          0              90             0              87
  20  PepperShaker    -2.482         0.111          0.238          0              0              0              56
  21  PepperShaker    -2.853         0.907          0.021          0              0              0              67
  22  SaltShaker      -0.168         1.108          1.435          0              315            0              68
  23  SaltShaker      -2.624         0.111          0.308          0              0              0              56
  24  Apple           0.451          1.060          -1.381         0              0              0              88
  25  Apple           0.294          1.057          -1.314         0              0              0              88
  26  Fork            -2.585         0.747          0.036          0              0              0              73
  27  Kettle          0.663          1.112          0.902          0              315            0              68
  28  CreditCard      -2.542         0.743          -0.027         0              0              0              75
  29  Bread           -0.401         0.948          -1.291         0              0              0              75
  30  Plate           -0.133         0.913          -1.365         0              0              0              75
  31  SoapBottle      0.920          0.912          -1.115         0              0              0              75
  32  Spatula         -2.085         0.926          -1.449         0              90             0              75
  33  Lettuce         -2.660         0.874          0.983          31.046         0              0              87
  34  SaltShaker      0.082          0.112          -1.167         0              0              0              57
  35  Tomato          0.203          1.152          1.056          0              0              0              68
  36  PepperShaker    -1.742         0.113          -1.105         0              0              0              52
  37  ButterKnife     -2.222         0.9            -0.997         0              323.977        0              75
  38  Pot             -2.622         0.928          -0.396         0              0              0              69
  39  DishSponge      0.809          1.662          -1.435         0              0              0              75
  40  Egg             -2.860         0.854          1.094          0              90             0              87
  41  Spoon           -2.026         0.748          -1.008         0              0              0              70
  42  Knife           0.471          1.134          1.402          0              315            0              68
  43  Cup             -1.155         1.661          -1.360         0              0              0              64
  44  Mug             0.372          1.654          -1.353         0              0              0              54
  45  Bowl            -2.680         1.473          0.771          0              90             0              87
  46  Cabinet         -2.647         2.075          -0.875         0              0              0
  47  Cabinet         -2.647         2.075          -0.234         0              0              0
  48  Cabinet         -0.824         0.469          -0.907         0              0              0
  49  Cabinet         -1.764         2.009          -1.197         0              0              0
  50  Cabinet         -1.834         2.009          -1.197         0              0              0
  51  Cabinet         -1.850         0.389          -0.897         0              0              0
  52  Cabinet         -1.801         0.469          -0.907         0              0              0
  53  Cabinet         1.115          2.009          -1.197         0              0              0
  54  Cabinet         0.235          2.009          -1.197         0              0              0
  55  Cabinet         1.125          0.470          -0.897         0              0              0
  56  Cabinet         -2.387         0.389          0.375          0              0              0
  57  Cabinet         0.484          0.389          -0.897         0              0              0
  58  Cabinet         -2.625         2.009          -1.197         0              0              0
  59  Cabinet         -2.647         2.009          -0.945         0              0              0
  60  Cabinet         -2.647         2.200          1.664          0              0              0
  61  Cabinet         -2.647         2.009          0.364          0              0              0
  62  Cabinet         0.164          2.009          -1.197         0              0              0
  63  Cabinet         -0.765         2.009          -1.197         0              0              0
  64  Cabinet         -0.834         2.009          -1.197         0              0              0
  65  Cabinet         -2.647         2.200          0.434          0              0              0
  66  StoveBurner     -2.622         0.886          -0.711         0              0              0
  67  CounterTop      -2.699         0.946          0.106          0              0              0
  68  CounterTop      0.908          1.147          0.788          0              315            0
  69  StoveBurner     -2.622         0.886          -0.396         0              0              0
  70  Drawer          -2.026         0.779          -1.082         0              0              0
  71  Sink            -1.328         0.916          -1.225         0              0              0
  72  StoveBurner     -2.822         0.886          -0.711         0              0              0
  73  Drawer          -2.572         0.779          0.099          0              0              0
  74  StoveBurner     -2.822         0.886          -0.396         0              0              0
  75  CounterTop      0.071          0.946          -1.199         0              0              0
  76  Drawer          0.254          0.779          -1.082         0              0              0
  77  LightSwitch     -1.167         1.307          3.0            0              180            0
  78  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  79  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  80  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  81  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  82  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  83  Window          0.321          1.449          3.088          90             0              0
  84  Toaster         -2.823         0.899          0.246          0              90             0
  85  SinkBasin       -1.344         0.838          -1.25          0              0              0
  86  GarbageCan      -2.757         1.886          1.466          0              0              0
  87  Fridge          -2.855         0.0            0.851          0              0              0
  88  Microwave       0.283          0.900          -1.331         0              0              0
  89  Stool           1.541          0.010          1.328          0              45             0
  90  Stool           0.983          0.010          1.793          0              47.459         0
  91  Faucet          -1.392         1.136          -1.399         0              270            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn left then face right to the cabinets. | STEP 2: Open the left cabinet and grab the mug. | STEP 3: Look down and face the microwave. | STEP 4: Warm the mug up in the microwave for 3 seconds. | STEP 5: Grab the mug and turn around to the coffee machine. | STEP 6: Place the mug under the coffee machine. | END