Task: Place a mug heated from the microwave on 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           -0.25          0.930          1.0            0              270            0
   1  Potato          1.008          0.924          -1.475         0              0              0              108
   2  Potato          2.987          0.785          0.231          0              90             0              107
   3  Ladle           3.373          0.937          -0.023         0              90             0              61
   4  DishSponge      0.285          0.704          -1.556         0              0              0              70
   5  DishSponge      3.111          0.746          0.231          0              90             0              107
   6  ButterKnife     0.798          0.908          0.426          0              0              0              93
   7  Kettle          -0.419         0.902          -1.269         0              315            0              64
   8  Kettle          -0.420         0.902          -0.920         0              135            0              57
   9  Pot             0.967          0.911          0.747          0              270            0              93
  10  Spatula         3.152          0.762          0.032          0              0              0              107
  11  Spatula         -0.745         0.721          0.926          0              270            0              66
  12  Fork            -0.748         0.900          -0.881         0              135            0              62
  13  CellPhone       0.622          0.905          0.827          0              0              0              93
  14  CellPhone       -1.080         0.897          0.846          0              0              0              62
  15  PepperShaker    2.947          0.709          0.829          0              180            0              84
  16  PepperShaker    -0.896         1.254          -0.883         0              45             0              81
  17  Bowl            0.105          0.897          -1.430         0              45             0              83
  18  SoapBottle      -0.862         0.909          -0.047         0              0              0              62
  19  Tomato          3.128          0.137          1.653          0              225            0              103
  20  Cup             0.760          1.672          -1.689         0              0              0              77
  21  Cup             1.160          1.672          -1.341         0              0              0              53
  22  Plate           3.084          0.190          0.629          0              0              0              71
  23  Plate           0.622          0.921          0.527          0              0              0              93
  24  Glassbottle     -0.053         0.901          -1.682         0              45             0              83
  25  SoapBottle      2.971          0.184          -0.356         0              0              0              73
  26  Potato          -1.153         0.938          0.623          0              0              0              62
  27  Fork            1.229          0.908          0.038          0              0              0              93
  28  Ladle           -0.868         0.363          0.576          0              0              0              63
  29  Pot             3.044          1.464          -1.648         0              270            0              60
  30  Kettle          -0.600         0.902          -1.090         0              135            0              51
  31  Spatula         2.906          0.727          -0.454         0              90             0              58
  32  Knife           -0.987         0.925          -0.746         0              135            0              62
  33  Lettuce         1.008          1.313          -1.503         0              0              0              108
  34  Cup             1.008          1.071          -1.503         0              0              0              108
  35  SaltShaker      3.318          1.460          -1.697         0              0              0              60
  36  Egg             -0.182         0.952          -1.347         0              45             0              83
  37  PepperShaker    -0.702         0.896          -0.726         0              45             0              62
  38  ButterKnife     3.044          0.900          -0.399         0              0              0              61
  39  Apple           0.356          0.981          0.426          0              0              0              93
  40  Pan             0.341          0.873          -1.649         0              167.065        0              83
  41  Bread           1.534          0.972          0.486          0              289.287        0              93
  42  CellPhone       0.967          0.905          0.464          0              0              0              93
  43  DishSponge      3.028          0.176          0.841          0              0              0              71
  44  Tomato          -1.094         0.937          -0.742         0              45             0              62
  45  Spoon           3.029          0.713          -0.784         0              180            0              49
  46  Bowl            2.960          1.461          -1.284         0              0              0              76
  47  Mug             3.049          0.966          0.591          0              270            0              105
  48  Drawer          0.376          0.572          -1.509         0              0              0
  49  Drawer          3.020          0.769          -0.783         0              180            0
  50  Drawer          -0.860         0.577          1.429          0              0              0
  51  StoveBurner     -0.600         0.897          -1.090         0              135            0
  52  Drawer          0.376          0.191          -1.509         0              0              0
  53  Cabinet         1.402          1.874          -1.259         0              0              0
  54  Cabinet         -0.202         1.963          -1.328         0              0              0
  55  Drawer          -0.860         0.765          1.429          0              0              0
  56  Drawer          -0.677         0.765          -0.700         0              0              0
  57  StoveBurner     -0.420         0.897          -0.920         0              135            0
  58  Drawer          3.020          0.769          -0.407         0              180            0
  59  Drawer          -0.860         0.577          0.663          0              0              0
  60  Cabinet         2.819          1.768          -1.850         0              0              0
  61  CounterTop      3.111          0.936          0.019          0              0              0
  62  CounterTop      -1.007         0.935          -0.039         0              0              0
  63  Drawer          -0.860         0.385          0.663          0              0              0
  64  StoveBurner     -0.419         0.897          -1.269         0              315            0
  65  Drawer          -0.047         0.573          -1.324         0              0              0
  66  Drawer          -0.860         0.765          0.663          0              0              0
  67  Drawer          -0.860         0.385          -0.100         0              0              0
  68  Drawer          0.376          0.380          -1.509         0              0              0
  69  Drawer          -0.860         0.765          -0.100         0              0              0
  70  Drawer          0.376          0.765          -1.509         0              0              0
  71  Cabinet         2.849          0.419          0.409          0              0              0
  72  Drawer          -0.047         0.765          -1.324         0              0              0
  73  Cabinet         2.849          0.419          -0.610         0              0              0
  74  Cabinet         2.849          0.419          -0.959         0              0              0
  75  Cabinet         3.069          1.666          -0.709         0              0              0
  76  Cabinet         2.819          1.768          -1.047         0              0              0
  77  Cabinet         0.620          1.874          -1.259         0              0              0
  78  Cabinet         0.140          1.666          -1.559         0              0              0
  79  Cabinet         -0.189         1.666          -1.340         0              0              0
  80  Cabinet         -0.709         1.963          -0.819         0              0              0
  81  Cabinet         -0.920         1.665          -0.620         0              0              0
  82  Drawer          -0.860         0.190          -0.100         0              0              0
  83  CounterTop      0.133          0.935          -1.457         0              0              0
  84  Drawer          3.020          0.769          0.695          0              180            0
  85  Drawer          -0.677         0.577          -0.700         0              0              0
  86  Drawer          -0.860         0.190          1.429          0              0              0
  87  Drawer          -0.047         0.192          -1.324         0              0              0
  88  Drawer          -0.677         0.193          -0.700         0              0              0
  89  Drawer          -0.860         0.577          -0.100         0              0              0
  90  Sink            3.078          0.887          0.086          0              0              0
  91  StoveBurner     -0.239         0.897          -1.089         0              315            0
  92  Drawer          -0.860         0.190          0.663          0              0              0
  93  CounterTop      1.210          0.937          0.463          0              0              0
  94  Drawer          -0.047         0.381          -1.324         0              0              0
  95  Drawer          -0.677         0.387          -0.700         0              0              0
  96  Mirror          -1.295         1.630          0.045          0              0              0
  97  Drawer          -0.860         0.385          1.429          0              0              0
  98  HousePlant      3.196          0.891          -0.368         0              0              0
  99  StoveKnob       -0.090         0.790          -1.009         270            45             0
 100  StoveKnob       -0.280         0.790          -0.819         270            45             0
 101  StoveKnob       -0.180         0.790          -0.920         270            45             0
 102  StoveKnob       -0.370         0.790          -0.720         270            45             0
 103  GarbageCan      3.137          0.025          1.545          0              225            0
 104  Window          3.703          1.675          0.046          90             90             0
 105  CoffeeMachine   3.214          0.890          0.697          0              270            0
 106  LightSwitch     2.592          1.309          -1.880         0              0              0
 107  SinkBasin       3.069          0.736          0.108          0              90             0
 108  Fridge          1.008          0.029          -1.467         0              0              0
 109  Toaster         -1.035         0.873          -0.396         0              90             0
 110  Microwave       -1.034         0.874          1.428          0              90             0
 111  Faucet          3.305          0.886          0.094          270            180            0
 112  NorthWall
 113  EastWall
 114  SouthWall
 115  WestWall

Plan:
STEP 1: Move across the kitchen to stand in front of the coffee maker to the left of the sink.  | STEP 2: Pick up the black mug from the base of the coffee maker.  | STEP 3: Carry the mug across the room to the microwave, which is at the far end of the counter.  | STEP 4: Place the mug in the microwave, turn it on, and then remove the mug once heated.  | STEP 5: Carry the mug back across the kitchen to the coffee maker.  | STEP 6: Place the mug back on the base of the coffee maker. | END