Task: place a mug filled with water in the cupboard under the gas

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          0.931          -0.25          0              0              0
   1  Pan             1.512          1.019          -1.337         0              270            0              55
   2  DishSponge      0.065          1.033          0.199          0              0              0              51
   3  ButterKnife     1.612          1.043          0.307          0              0              0              51
   4  Fork            0.351          1.043          0.738          0              0              0              51
   5  Fork            1.181          1.043          0.720          0              0              0              51
   6  Spoon           0.160          1.044          0.630          0              0              0              51
   7  Spatula         0.100          1.061          -1.118         0              180            0              49
   8  Spatula         1.155          1.061          -1.289         0              0              0              49
   9  Egg             -0.260         1.101          -1.612         0              0              0              49
  10  Egg             -1.225         1.543          2.063          0              90             0              64
  11  Cup             1.238          1.047          -1.181         0              0              0              49
  12  Plate           1.036          1.577          -1.689         0              0              0              53
  13  Tomato          1.347          1.094          0.589          0              0              0              51
  14  Tomato          -1.064         1.014          1.885          0              90             0              64
  15  SoapBottle      -0.346         1.047          -1.505         0              0              0              49
  16  SoapBottle      -0.580         0.204          -1.481         0              0              0              58
  17  PepperShaker    0.848          1.038          0.632          0              0              0              51
  18  Lettuce         -0.603         1.106          -1.289         0              0              0              49
  19  Mug             1.765          1.081          0.331          0              270            0              67
  20  Mug             -1.235         1.223          1.885          0              90             0              64
  21  Apple           1.826          0.166          2.414          0              270            0              65
  22  Apple           -1.194         1.759          -1.331         0              0              0              63
  23  SoapBottle      -0.775         1.047          -1.720         0              0              0              49
  24  Apple           0.255          1.086          0.307          0              0              0              51
  25  Potato          -1.064         1.017          2.063          0              90             0              64
  26  Fork            0.030          1.033          0.114          354.495        0              0              51
  27  Kettle          0.979          0.200          -1.412         0              0              0              60
  28  Pan             -1.027         0.202          -1.482         0              90             0              57
  29  Tomato          -1.051         0.758          2.242          0              90             0              64
  30  SaltShaker      0.823          1.041          -1.720         0              0              0              49
  31  Egg             1.523          1.097          0.522          0              0              0              51
  32  Cup             -1.381         1.489          2.153          0              90             0              64
  33  Spatula         0.682          1.058          0.632          0              0              0              51
  34  Knife           0.379          1.072          -1.107         0              0              0              49
  35  Lettuce         -1.300         1.287          2.153          0              90             0              64
  36  ButterKnife     0.109          1.031          0.368          0              0              0              51
  37  PepperShaker    1.015          1.038          0.632          0              0              0              51
  38  DishSponge      -0.260         1.046          -1.289         0              0              0              49
  39  Plate           1.588          0.217          -1.262         0              0              0              59
  40  Bread           0.406          1.104          0.352          0              337.138        0              51
  41  Spoon           0.516          1.044          0.807          0              0              0              51
  42  Pot             0.5            1.057          -1.4           0              0              0              50
  43  Mug             -1.038         1.223          1.796          0              0              0              64
  44  Bowl            -1.312         1.712          1.974          0              90             0              64
  45  StoveBurner     0.389          1.043          -1.630         0              0              0
  46  SinkBasin       1.211          0.882          0.236          0              90             0
  47  Sink            0.928          0.941          0.324          0              90             0
  48  StoveBurner     0.000          1.048          -1.399         0              0              0
  49  CounterTop      0.196          1.082          -1.504         0              0              0
  50  StoveBurner     0.5            1.048          -1.399         0              0              0
  51  CounterTop      0.968          1.078          0.415          0              0              0
  52  StoveBurner     0.120          1.043          -1.630         0              0              0
  53  Cabinet         1.322          1.955          -1.309         0              0              0
  54  Cabinet         -0.866         1.955          -1.309         0              0              0
  55  Cabinet         1.993          1.403          -1.110         0              0              0
  56  Cabinet         -1.547         2.001          -1.110         0              0              0
  57  Cabinet         -1.526         0.593          -1.110         0              0              0
  58  Cabinet         -0.852         0.589          -1.110         0              0              0
  59  Cabinet         1.990          0.593          -1.110         0              0              0
  60  Cabinet         1.336          0.589          -1.110         0              0              0
  61  StoveBurner     0.250          1.048          -1.399         0              0              0
  62  Toaster         -0.550         1.035          -1.776         0              0              0
  63  Microwave       -1.189         1.624          -1.284         0              0              0
  64  Fridge          -1.286         0.020          1.832          0              90             0
  65  GarbageCan      1.856          -0.019         2.386          0              270            0
  66  LightSwitch     1.016          1.360          2.619          0              180            0
  67  CoffeeMachine   1.929          1.031          0.440          0              270            0
  68  StoveKnob       0.0            1.046          -1.220         0              0              0
  69  StoveKnob       0.090          1.046          -1.220         0              0              0
  70  StoveKnob       0.246          1.046          -1.220         0              0              0
  71  StoveKnob       0.490          1.046          -1.220         0              0              0
  72  StoveKnob       0.389          1.046          -1.220         0              0              0
  73  Faucet          1.277          1.265          0.384          0              90             0
  74  Chair           0.343          0.031          0.976          0              166.747        0
  75  Chair           1.008          0.031          1.034          0              180            0
  76  Chair           1.575          0.031          1.050          0              210.000        0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: turn right and head to the gas | STEP 2: pick up the mug by the gas | STEP 3: turn around and head for the sink | STEP 4: fill the mug with water | STEP 5: turn around and head for the cupboard under the gas | STEP 6: place the buy in the cupboard | END