Task: To heat a mug and put it on the counter.

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          1.124          0.0            0              90             0
   1  Potato          -1.401         1.362          1.419          0              0              0              50
   2  Potato          -1.660         1.362          0.120          0              0              0              50
   3  WineBottle      1.129          0.345          -2.164         0              180            0              49
   4  Spoon           0.420          1.324          -2.789         0              0              0              50
   5  Spoon           -1.687         0.423          -0.430         0              0              0              54
   6  Spatula         -1.165         1.337          -3.425         0              90             0              50
   7  Spatula         0.636          1.337          -3.164         0              0              0              50
   8  Pot             0.896          1.329          -2.053         0              0              0              50
   9  Pot             -0.749         1.332          -2.973         0              0              0              53
  10  Egg             -1.915         1.376          -1.117         0              0              0              57
  11  Cup             1.056          1.754          2.053          0              270            0              63
  12  Cup             -1.749         0.341          0.110          0              0              0              48
  13  SoapBottle      -1.603         0.422          -1.020         0              0              0              56
  14  Tomato          0.938          1.709          1.663          0              270            0              63
  15  Tomato          -1.610         0.314          2.234          0              270            0              65
  16  Bowl            -1.826         1.331          -1.255         0              0              0              57
  17  Bowl            -1.380         1.321          -3.314         0              0              0              50
  18  PepperShaker    0.861          1.202          1.238          0              0              0              75
  19  Bread           -1.401         1.397          -2.461         0              0              0              50
  20  Lettuce         -1.790         1.399          1.419          0              0              0              50
  21  Apple           0.349          1.371          -3.121         0              0              0              50
  22  Bread           -1.363         1.397          -0.098         0              0              0              50
  23  Pot             -0.239         1.331          -3.301         0              180            0              45
  24  Knife           -1.559         1.358          -1.049         0              90             0              57
  25  Bowl            -2.093         1.332          -1.255         0              0              0              57
  26  Potato          1.056          1.796          2.289          0              270            0              63
  27  SoapBottle      -1.602         0.344          -1.863         0              0              0              46
  28  Fork            -2.004         1.337          -1.255         0              180            0              57
  29  Cup             1.276          1.205          1.238          0              0              0              75
  30  Kettle          -1.691         1.310          -3.156         0              150.000        0              50
  31  Egg             -1.327         1.363          -1.269         0              0              0              50
  32  Pan             -1.881         0.327          -2.035         0              0              0              46
  33  SaltShaker      -1.602         0.338          -1.763         0              0              0              46
  34  WineBottle      1.285          1.323          -0.942         0              0              0              50
  35  Lettuce         0.766          1.399          -2.794         0              0              0              50
  36  Spatula         -1.522         1.337          -3.092         0              90             0              50
  37  PaperTowelRoll  -1.586         0.384          2.151          0              270            0              65
  38  Tomato          1.056          1.709          1.486          0              270            0              63
  39  Plate           -1.682         0.344          1.523          0              0              0              51
  40  PepperShaker    -1.851         0.338          -1.863         0              0              0              46
  41  DishSponge      0.900          0.344          -2.371         0              180            0              49
  42  Spoon           0.277          1.324          -2.789         0              0              0              50
  43  Apple           -1.698         1.099          -0.542         0              0              0              68
  44  Mug             0.965          1.371          -1.534         0              270            0              71
  45  StoveBurner     -0.239         1.325          -3.301         0              180            0
  46  Cabinet         -1.461         0.775          -2.002         0              0              0
  47  StoveBurner     -0.630         1.325          -3.301         0              180            0
  48  Cabinet         -1.461         0.775          0.470          0              0              0
  49  Cabinet         0.578          0.776          -2.054         0              0              0
  50  CounterTop      -1.809         1.358          1.182          0              0              0
  51  Cabinet         -1.461         0.775          1.310          0              0              0
  52  Faucet          -2.063         1.362          -0.726         0              39.391         0
  53  StoveBurner     -0.749         1.325          -2.973         0              0              0
  54  Drawer          -1.610         0.681          -0.430         0              0              0
  55  Window          -2.566         1.799          -0.822         270            0              0
  56  Drawer          -1.610         0.681          -1.217         0              0              0
  57  Sink            -1.990         1.143          -0.975         0              0              0
  58  StoveBurner     -0.125         1.325          -2.973         0              0              0
  59  StoveKnob       -0.185         1.338          -2.741         0              270            180
  60  StoveKnob       -0.336         1.338          -2.741         0              270            180
  61  StoveKnob       -0.569         1.338          -2.741         0              270            180
  62  StoveKnob       -0.707         1.338          -2.741         0              270            180
  63  Fridge          1.013          0.227          1.917          0              270            0
  64  Microwave       0.994          1.310          -2.163         0              270            0
  65  GarbageCan      -1.633         0.212          2.192          0              270            0
  66  LightSwitch     1.386          1.565          -0.657         0              270            0
  67  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  68  SinkBasin       -1.835         1.039          -0.542         0              0              0
  69  ButterKnife     0.873          0.468          0.651          0              0              0
  70  Toaster         -1.885         1.310          -2.512         0              90             0
  71  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  72  Drawer          0.647          1.061          0.680          0              270            0
  73  Drawer          0.648          1.061          1.020          0              270            0
  74  Drawer          0.648          0.843          1.020          0              270            0
  75  SideTable       0.975          0.220          0.869          0              270            0
  76  Drawer          0.648          0.602          0.680          0              270            0
  77  Drawer          0.648          0.596          1.020          0              270            0
  78  Drawer          0.648          0.843          0.680          0              270            0
  79  Stool           0.606          0.222          -1.084         1.233          280.489        0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn right, turn left at the stove to face the counter with the coffee maker.  | STEP 2: Pick up the mug from the coffee maker.  | STEP 3: Turn left and walk to the microwave to the right of the fridge.  | STEP 4: Open the microwave door, place the mug inside of the microwave, heat the mug, take the mug out of the microwave, close the door.  | STEP 5: Move to the counter space to the left of the microwave.  | STEP 6: Put the mug down on the counter behind the pepper mill.  | END