Task: Place a mug in the 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           1.0            0.900          -1.0           0              270            0
   1  Book            -0.995         0.910          -2.483         0              0              0              88
   2  Pan             -0.465         0.950          -2.372         0              90             0              61
   3  Statue          -0.197         1.110          -0.506         0              90             0              63
   4  CreditCard      0.892          0.139          -2.286         0              0              0              83
   5  CreditCard      -0.473         1.108          0.504          0              0              0              63
   6  Cup             -0.197         1.109          0.757          0              0              0              63
   7  Egg             -1.742         0.804          -1.414         0              90             0              98
   8  Egg             -0.070         1.825          -2.610         0              0              0              89
   9  Tomato          -2.081         1.542          1.176          0              90             0              96
  10  SoapBottle      -1.200         0.137          -2.503         0              0              0              81
  11  Bread           -2.078         0.870          1.003          0              90             0              96
  12  Lettuce         -1.963         0.849          -1.328         0              90             0              98
  13  Apple           1.098          0.961          -2.560         0              0              0              65
  14  Knife           0.453          0.936          -2.484         0              180            0              65
  15  Spoon           -1.438         0.912          -2.560         0              0              0              88
  16  Mug             -0.335         1.106          -0.253         0              0              0              63
  17  Mug             -0.197         1.106          -0.253         0              0              0              63
  18  Pot             -0.036         0.950          -2.372         0              270            0              58
  19  ButterKnife     -1.852         0.769          -1.328         0              90             0              98
  20  Kettle          -1.705         0.137          -1.273         0              90             0              64
  21  Glassbottle     -1.935         0.048          2.124          0              270            0              94
  22  Glassbottle     -1.296         0.137          -2.352         0              0              0              81
  23  WineBottle      -0.197         1.112          0.251          0              0              0              63
  24  WineBottle      -1.693         0.912          -0.513         0              0              0              88
  25  DishSponge      1.008          0.314          -2.334         0              0              0              67
  26  Bowl            0.355          1.108          -0.253         0              0              0              63
  27  Bowl            -0.225         1.787          -2.546         0              0              0              89
  28  Book            0.155          1.1            0.617          0              315            0              63
  29  Glassbottle     -1.797         0.770          -1.242         0              90             0              98
  30  Knife           0.355          1.136          -0.759         0              0              0              63
  31  Bread           -0.473         1.184          -0.506         0              0              0              63
  32  Fork            -1.782         0.794          0.199          0              90             0              60
  33  Potato          -1.962         0.078          1.885          0              270            0              94
  34  SoapBottle      -1.856         0.912          -2.256         0              0              0              88
  35  Kettle          1.098          0.911          -2.330         0              0              0              65
  36  Pan             0.721          0.9            -2.415         0              0              0              65
  37  Plate           1.685          0.549          -2.511         0              180            0              93
  38  Tomato          -2.120         0.837          1.251          0              90             0              96
  39  Vase            2.042          0.540          -2.495         0              0              0              93
  40  Egg             -2.018         0.804          -1.673         0              90             0              98
  41  CreditCard      0.837          0.773          -2.291         0              0              0              59
  42  Statue          -0.473         1.110          0.251          0              90             0              63
  43  WineBottle      -1.104         0.137          -2.402         0              0              0              81
  44  Pot             -2.026         1.310          1.092          0              90             0              96
  45  Spatula         -1.908         0.784          -1.587         0              90             0              98
  46  PaperTowelRoll  2.096          0.985          -2.536         0              180            0              90
  47  Cup             1.584          0.878          -2.617         0              180            0              90
  48  Vase            1.478          0.550          -2.562         0              180            0              93
  49  Bowl            -1.765         0.126          0.248          0              90             0              69
  50  SaltShaker      1.007          0.138          -2.431         0              0              0              83
  51  PepperShaker    2.100          0.549          -2.666         0              180            0              93
  52  Lettuce         0.079          1.191          0.251          0              0              0              63
  53  ButterKnife     0.453          0.910          -2.253         0              0              0              65
  54  Apple           0.324          0.961          -2.714         0              0              0              65
  55  DishSponge      -1.935         0.047          2.029          0              270            0              94
  56  Spoon           -1.908         0.770          -1.673         0              90             0              98
  57  Mug             -0.955         1.651          -2.604         0              0              0              77
  58  StoveBurner     -0.036         0.915          -2.372         0              0              0
  59  Drawer          0.949          0.832          -2.197         0              0              0
  60  Drawer          -1.560         0.839          0.204          0              90             0
  61  StoveBurner     -0.465         0.915          -2.371         0              180            0
  62  Drawer          -1.560         0.839          -0.197         0              90             0
  63  CounterTop      -0.079         1.147          -0.001         0              0              0
  64  Cabinet         -1.549         0.494          -1.964         0              90             0
  65  CounterTop      0.693          0.946          -2.483         0              0              0
  66  StoveBurner     -0.036         0.915          -2.576         0              0              0
  67  Drawer          0.949          0.393          -2.200         0              0              0
  68  Drawer          0.949          0.708          -2.200         0              0              0
  69  Cabinet         -1.549         0.494          0.379          0              90             0
  70  StoveKnob       -0.022         0.881          -2.187         45             0              0
  71  Drawer          0.949          0.560          -2.201         0              0              0
  72  StoveBurner     -0.465         0.915          -2.575         0              180            0
  73  Window          -2.230         1.429          -1.203         0              0              0
  74  StoveKnob       -0.483         0.881          -2.187         45             0              0
  75  Sink            -1.899         0.964          -1.5           0              90             0
  76  StoveKnob       -0.328         0.881          -2.187         45             0              0
  77  Cabinet         -0.727         2.015          -2.460         0              0              0
  78  Drawer          -1.560         0.655          -0.196         0              90             0
  79  Cabinet         -1.685         2.015          -2.461         0              0              0
  80  Cabinet         0.680          0.494          -2.200         0              0              0
  81  Cabinet         -1.179         0.494          -2.200         0              0              0
  82  Cabinet         -1.849         2.015          0.379          0              90             0
  83  Drawer          0.949          0.221          -2.200         0              0              0
  84  StoveKnob       -0.183         0.881          -2.187         45             0              0
  85  Cabinet         0.719          2.015          -2.460         0              0              0
  86  Drawer          -1.560         0.331          -0.196         0              90             0
  87  Cabinet         0.680          2.015          -2.460         0              0              0
  88  CounterTop      -1.868         0.946          -1.205         0              0              0
  89  Microwave       -0.236         1.689          -2.525         0              0              0
  90  Shelf           1.751          0.880          -2.560         0              0              0
  91  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  92  Toaster         -1.835         0.900          0.134          0              90             0
  93  Shelf           1.750          0.552          -2.559         0              0              0
  94  GarbageCan      -1.935         -0.002         2.029          0              270            0
  95  Shelf           1.750          0.172          -2.559         0              0              0
  96  Fridge          -2.096         0.0            1.088          0              0              0
  97  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  98  SinkBasin       -1.908         0.759          -1.488         0              90             0
  99  LightSwitch     2.329          1.309          -0.159         0              270            0
 100  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 101  Stool           0.702          0.000          -0.514         1.202          65.108         0
 102  Stool           0.743          0.000          0.563          1.227          106.706        0
 103  Faucet          -2.070         1.132          -1.514         0              0              0
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Turn to the left and move around the kitchen island, going past the range and dishwasher, then turn right and face the kitchen island. | STEP 2: Pick up the white mug closest to the edge and to the left of the loaf of bread from the kitchen island. | STEP 3: Turn right, move around the kitchen island and face the range. | STEP 4: Open the microwave above the range, place the mug in the microwave in front of the egg, microwave the mug, pick up the mug from the microwave and then close the microwave door. | STEP 5: Turn to the right, move past the sink and dishwasher, then turn to the left and face the blue coffee maker located between the wine bottle and the red toaster. | STEP 6: Place the mug in the coffee maker directly underneath the nozzle. | END