Task: Place a heated coffee mug in a coffeemaker

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          0.75           0              0              0
   1  Book            -1.738         0.908          0.363          0              0              0              54
   2  DishSponge      3.716          0.880          1.861          0              270            0              77
   3  Kettle          0.974          0.957          -1.419         0              180            0              72
   4  Spatula         -1.738         0.927          0.037          0              0              0              54
   5  Spatula         -0.040         0.943          -1.646         0              90             0              51
   6  Pot             1.328          0.957          -1.420         0              180            0              58
   7  Fork            -2.644         0.875          3.446          0              315            0              56
   8  Spoon           -2.510         0.875          3.221          0              90             0              56
   9  Cup             -2.248         0.876          2.916          0              135            0              56
  10  Plate           -0.377         0.807          2.137          0              180            0              79
  11  Plate           0.571          0.916          -1.572         0              0              0              54
  12  Knife           -2.420         0.900          2.983          0              135            0              56
  13  Knife           -2.996         0.900          3.147          0              270            0              56
  14  Tomato          -2.353         0.922          3.632          0              225            0              56
  15  Bowl            -2.405         0.876          2.758          0              135            0              56
  16  SaltShaker      -2.584         0.871          3.053          0              0              0              56
  17  Lettuce         -0.263         1.637          1.981          0              90             0              79
  18  Mug             -0.149         0.797          2.137          0              180            0              79
  19  Mug             -0.377         1.567          2.100          0              180            0              79
  20  Apple           -1.516         0.967          -1.591         0              0              0              54
  21  Apple           -1.627         0.967          0.037          0              0              0              54
  22  Book            -2.072         0.908          0.363          0              0              0              54
  23  Fork            -2.539         0.879          3.102          0              225            0              56
  24  Tomato          0.079          1.191          2.206          0              180            0              79
  25  Egg             -1.568         0.929          -0.469         0              0              0              54
  26  Kettle          1.328          0.957          -1.688         0              180            0              57
  27  Vase            -1.649         0.120          -0.766         0              0              0              59
  28  Cup             -1.557         1.655          -1.674         0              0              0              67
  29  WineBottle      -2.740         0.875          3.618          0              135            0              56
  30  Plate           -0.367         0.711          -1.573         0              270            0              83
  31  Spatula         0.234          0.943          -1.646         0              90             0              51
  32  Potato          0.289          0.965          -1.646         0              270            0              51
  33  Pot             -3.069         0.877          3.527          0              135            0              56
  34  Knife           0.124          0.950          -1.356         0              0              0              51
  35  SaltShaker      -1.583         0.714          -1.001         0              0              0              69
  36  PepperShaker    0.674          0.112          -1.445         0              0              0              61
  37  Lettuce         -2.584         0.943          3.390          0              0              0              56
  38  ButterKnife     -1.738         0.912          -1.265         0              0              0              54
  39  Bread           -2.183         0.995          -1.265         0              0              0              54
  40  Vase            -3.165         0.879          3.221          0              270            0              56
  41  DishSponge      0.521          0.718          -1.443         0              0              0              71
  42  Apple           -2.733         0.929          2.884          0              0              0              56
  43  Pan             0.972          0.959          -1.426         0              0              0              72
  44  Spoon           1.676          0.720          -1.443         0              90             0              70
  45  SoapBottle      -2.697         0.879          3.498          0              315            0              56
  46  Mug             0.079          0.797          2.194          0              180            0              79
  47  Statue          -2.367         0.885          3.408          0              135            0              56
  48  Statue          3.668          0.540          1.800          0              0              0              77
  49  Bowl            -1.849         0.910          -0.939         0              0              0              54
  50  Cabinet         -2.171         2.009          -1.538         0              0              0
  51  Sink            0.024          0.771          -1.708         0              270            0
  52  Cabinet         1.444          2.259          -1.542         0              0              0
  53  StoveBurner     0.974          0.957          -1.688         0              180            0
  54  CounterTop      -1.866         0.947          -0.614         0              0              0
  55  Cabinet         -2.217         0.373          -1.874         0              0              0
  56  DiningTable     -2.663         0.002          3.208          0              0              0
  57  StoveBurner     1.328          0.957          -1.688         0              180            0
  58  StoveBurner     1.328          0.957          -1.420         0              180            0
  59  Cabinet         -1.478         0.373          -1.235         0              0              0
  60  Cabinet         1.775          0.372          -1.242         0              0              0
  61  Cabinet         0.774          0.372          -1.242         0              0              0
  62  Cabinet         0.375          0.372          -1.242         0              0              0
  63  Cabinet         -0.574         0.372          -1.238         0              0              0
  64  Cabinet         1.775          2.009          -1.542         0              0              0
  65  Cabinet         0.524          2.009          -1.542         0              0              0
  66  Cabinet         -0.714         2.009          -1.542         0              0              0
  67  Cabinet         -1.671         2.009          -1.538         0              0              0
  68  Cabinet         0.854          2.259          -1.542         0              0              0
  69  Drawer          -1.636         0.683          -0.930         0              0              0
  70  Drawer          1.650          0.682          -1.396         0              0              0
  71  Drawer          0.600          0.682          -1.396         0              0              0
  72  StoveBurner     0.974          0.957          -1.419         0              180            0
  73  Drawer          -2.062         0.683          -1.579         0              0              0
  74  CounterTop      1.645          0.945          -1.527         0              0              0
  75  Shelf           3.725          0.880          1.671          0              90             0
  76  LightSwitch     2.830          1.266          -0.748         0              0              0
  77  Shelf           3.726          0.552          1.671          0              90             0
  78  Microwave       1.150          1.655          -1.614         0              0              0
  79  Fridge          -0.035         0.0            2.177          0              180            0
  80  Window          -0.115         1.802          -1.896         90             0              0
  81  Window          -4.009         1.799          0.310          90             90             0
  82  Shelf           3.726          0.172          1.671          0              90             0
  83  SinkBasin       -0.330         0.686          -1.581         0              270            0
  84  GarbageCan      -0.870         -0.001         2.136          0              90             0
  85  StoveKnob       1.089          0.913          -1.243         45             0              0
  86  StoveKnob       1.208          0.913          -1.243         45             0              0
  87  StoveKnob       1.340          0.913          -1.243         45             0              0
  88  StoveKnob       0.961          0.913          -1.243         45             0              0
  89  Toaster         1.637          0.900          -1.673         0              0              0
  90  Chair           -3.505         0.002          3.290          0              105.736        0
  91  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  92  HousePlant      -2.663         0.835          3.209          0              0              0
  93  Faucet          -0.187         0.922          -1.75          0              311.166        0
  94  ShelvingUnit    3.726          0.006          1.671          0              90             0
  95  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  96  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  97  Chair           -2.934         0.002          2.437          0              28.531         0
  98  Chair           -1.698         0.002          3.235          0              245.204        0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: Go to the fridge | STEP 2: Take a mug out of the fridge | STEP 3: Go to the microwave | STEP 4: Heat the mug in the microwave | STEP 5: Go to the coffeemaker | STEP 6: Place the mug in the coffeemaker | END