Task: Put a heated mug on 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           0.75           0.900          -1.25          0              0              0
   1  Pan             -0.335         1.111          -0.506         0              0              0              61
   2  CreditCard      1.891          0.877          -2.617         0              180            0              88
   3  CreditCard      -1.653         0.151          -0.342         0              90             0              84
   4  Plate           0.355          1.108          -0.759         0              0              0              61
   5  Plate           -1.104         0.133          -2.453         0              0              0              79
   6  Cup             -1.143         0.909          -2.713         0              0              0              86
   7  Cup             -0.173         1.788          -2.610         0              0              0              87
   8  Egg             -1.907         0.083          1.885          0              270            0              92
   9  Tomato          -2.100         0.950          -0.698         0              0              0              86
  10  Tomato          -0.197         1.150          -0.001         0              0              0              61
  11  PepperShaker    -1.740         0.150          -0.293         0              90             0              84
  12  PepperShaker    0.582          0.907          -2.637         0              0              0              63
  13  Lettuce         -1.143         0.991          -2.406         0              0              0              86
  14  Apple           -1.935         0.098          2.124          0              270            0              92
  15  Knife           -1.693         0.936          -0.698         0              90             0              86
  16  Fork            -1.774         0.911          -2.036         0              270            0              86
  17  Fork            1.007          0.646          -2.417         0              0              0              66
  18  Mug             -2.121         0.535          1.168          0              90             0              94
  19  Mug             -0.840         1.651          -2.676         0              0              0              75
  20  Spatula         -1.937         0.926          -2.256         0              0              0              86
  21  Pot             -0.036         0.950          -2.372         0              270            0              56
  22  Pot             -1.908         0.774          -1.328         0              90             0              96
  23  ButterKnife     0.079          1.111          -0.001         0              0              0              61
  24  Glassbottle     -1.962         0.048          1.981          0              270            0              92
  25  Bowl            -1.814         0.126          0.203          0              90             0              67
  26  Book            0.155          1.1            0.617          0              315            0              61
  27  Glassbottle     -2.100         0.912          -0.513         0              0              0              86
  28  Knife           -0.473         1.136          -0.253         0              180            0              61
  29  Bread           0.355          1.184          0.251          0              0              0              61
  30  Fork            0.453          0.911          -2.407         0              0              0              63
  31  Potato          -1.963         0.800          -1.501         0              90             0              96
  32  SoapBottle      -1.586         0.912          -2.637         0              0              0              86
  33  Kettle          1.037          0.9            -2.596         0              0              0              63
  34  Pan             -2.070         1.305          1.092          0              180            0              94
  35  Plate           -2.122         1.499          1.008          0              90             0              94
  36  Tomato          -1.999         0.267          0.920          0              90             0              94
  37  Vase            1.685          0.555          -2.511         0              180            0              91
  38  Egg             0.582          0.945          -2.253         0              0              0              63
  39  CreditCard      -1.574         0.908          -1.496         0              0              0              96
  40  Statue          -0.335         1.110          0.757          0              0              0              61
  41  WineBottle      -0.059         1.112          0.251          0              0              0              61
  42  Pot             -0.465         0.950          -2.372         0              90             0              59
  43  Spatula         -1.653         0.168          -0.053         0              0              0              84
  44  PaperTowelRoll  -0.059         1.215          -0.506         0              0              0              61
  45  Cup             -1.797         0.767          -1.760         0              90             0              96
  46  Vase            1.098          0.908          -2.330         0              0              0              63
  47  Bowl            -0.059         1.108          -0.253         0              0              0              61
  48  SaltShaker      -0.473         1.107          -0.759         0              0              0              61
  49  PepperShaker    -0.473         1.107          0.251          0              0              0              61
  50  Lettuce         0.079          1.191          -0.506         0              0              0              61
  51  ButterKnife     -1.908         0.769          -1.587         0              90             0              96
  52  Apple           -1.997         0.591          0.837          0              90             0              94
  53  DishSponge      -2.018         0.769          -1.673         0              90             0              96
  54  Spoon           0.079          1.112          -0.759         0              0              0              61
  55  Mug             -1.731         0.956          -0.168         0              90             0              95
  56  StoveBurner     -0.036         0.915          -2.372         0              0              0
  57  Drawer          0.949          0.832          -2.197         0              0              0
  58  Drawer          -1.560         0.839          0.204          0              90             0
  59  StoveBurner     -0.465         0.915          -2.371         0              180            0
  60  Drawer          -1.560         0.839          -0.197         0              90             0
  61  CounterTop      -0.079         1.147          -0.001         0              0              0
  62  Cabinet         -1.549         0.494          -1.964         0              90             0
  63  CounterTop      0.693          0.946          -2.483         0              0              0
  64  StoveBurner     -0.036         0.915          -2.576         0              0              0
  65  Drawer          0.949          0.393          -2.200         0              0              0
  66  Drawer          0.949          0.708          -2.200         0              0              0
  67  Cabinet         -1.549         0.494          0.379          0              90             0
  68  StoveKnob       -0.022         0.881          -2.187         45             0              0
  69  Drawer          0.949          0.560          -2.201         0              0              0
  70  StoveBurner     -0.465         0.915          -2.575         0              180            0
  71  Window          -2.230         1.429          -1.203         0              0              0
  72  StoveKnob       -0.483         0.881          -2.187         45             0              0
  73  Sink            -1.899         0.964          -1.5           0              90             0
  74  StoveKnob       -0.328         0.881          -2.187         45             0              0
  75  Cabinet         -0.727         2.015          -2.460         0              0              0
  76  Drawer          -1.560         0.655          -0.196         0              90             0
  77  Cabinet         -1.685         2.015          -2.461         0              0              0
  78  Cabinet         0.680          0.494          -2.200         0              0              0
  79  Cabinet         -1.179         0.494          -2.200         0              0              0
  80  Cabinet         -1.849         2.015          0.379          0              90             0
  81  Drawer          0.949          0.221          -2.200         0              0              0
  82  StoveKnob       -0.183         0.881          -2.187         45             0              0
  83  Cabinet         0.719          2.015          -2.460         0              0              0
  84  Drawer          -1.560         0.331          -0.196         0              90             0
  85  Cabinet         0.680          2.015          -2.460         0              0              0
  86  CounterTop      -1.868         0.946          -1.205         0              0              0
  87  Microwave       -0.236         1.689          -2.525         0              0              0
  88  Shelf           1.751          0.880          -2.560         0              0              0
  89  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  90  Toaster         -1.835         0.900          0.134          0              90             0
  91  Shelf           1.750          0.552          -2.559         0              0              0
  92  GarbageCan      -1.935         -0.002         2.029          0              270            0
  93  Shelf           1.750          0.172          -2.559         0              0              0
  94  Fridge          -2.096         0.0            1.088          0              0              0
  95  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  96  SinkBasin       -1.908         0.759          -1.488         0              90             0
  97  LightSwitch     2.329          1.309          -0.159         0              270            0
  98  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  99  Stool           0.702          0.000          -0.514         1.202          65.108         0
 100  Stool           0.743          0.000          0.563          1.227          106.706        0
 101  Faucet          -2.070         1.132          -1.514         0              0              0
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: Turn left, move around the island to the right, head to the coffee machine on the left.  | STEP 2: Pick up the mug on the coffee machine.  | STEP 3: Turn left, bring the mug to the microwave above the stove. | STEP 4: Heat the mug in the coffee machine.  | STEP 5: Take the heated mug back to the coffee machine, right of the sink.  | STEP 6: Put the heated mug on the coffee machine. | END