Task: chill a mug in the fridge and place it under the machine

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          -0.5           0              0              0
   1  DishSponge      1.724          0.911          0.540          0              0              0              65
   2  Spoon           -0.494         0.773          -1.538         0              90             0              54
   3  Spatula         0.701          0.934          -1.649         0              270            0              48
   4  Egg             0.167          0.947          0.623          0              0              0              49
   5  Cup             -2.397         0.779          -1.849         0              0              0              80
   6  Cup             -0.147         0.109          -1.582         0              0              0              59
   7  Plate           1.535          0.913          -1.737         0              0              0              50
   8  Knife           -1.791         0.977          0.345          0              90             0              83
   9  SoapBottle      -0.096         0.109          -1.471         0              0              0              59
  10  SoapBottle      -2.065         0.950          0.524          0              90             0              83
  11  Tomato          -2.047         1.100          -1.720         0              0              0              80
  12  Tomato          -2.203         1.001          0.345          0              90             0              83
  13  SaltShaker      -1.928         0.948          0.614          0              90             0              83
  14  PepperShaker    -1.928         0.948          0.524          0              90             0              83
  15  Bread           1.724          0.995          0.292          0              0              0              65
  16  Mug             1.867          0.103          0.311          0              0              0              58
  17  Mug             -1.791         0.947          0.614          0              90             0              83
  18  Mug             -0.544         0.907          -1.406         0              0              0              50
  19  Apple           -2.340         1.019          0.345          0              90             0              83
  20  Apple           -1.027         1.082          -1.704         0              0              0              72
  21  Bread           0.035          0.995          0.292          0              0              0              49
  22  Knife           1.846          0.937          0.623          0              0              0              65
  23  Fork            -2.065         0.952          0.255          0              180            0              83
  24  Bowl            -0.359         0.911          -1.654         0              0              0              50
  25  Kettle          1.361          0.962          0.561          0              270            0              55
  26  Cup             -1.872         0.779          -1.720         0              0              0              80
  27  Tomato          -2.065         1.001          0.704          0              90             0              83
  28  SoapBottle      1.907          0.910          0.375          0              0              0              65
  29  Plate           -2.222         0.512          -1.763         0              0              0              80
  30  Pot             1.007          0.962          0.561          0              270            0              52
  31  Spatula         0.167          0.927          0.458          0              270            0              49
  32  PaperTowelRoll  1.601          1.016          0.292          0              0              0              65
  33  Egg             -2.397         0.546          -1.677         0              0              0              80
  34  Lettuce         -2.135         1.582          -1.763         0              0              0              80
  35  SaltShaker      -0.175         0.908          -1.820         0              0              0              50
  36  PepperShaker    -1.791         0.948          0.435          0              90             0              83
  37  Apple           -2.614         1.019          0.345          0              90             0              83
  38  ButterKnife     -2.477         0.952          0.524          0              90             0              83
  39  Potato          0.412          0.806          -1.745         0              270            0              73
  40  Pan             1.022          0.959          0.288          0              219.190        0              62
  41  DishSponge      -0.082         0.911          -1.654         0              0              0              50
  42  Spoon           -2.614         0.953          0.524          0              90             0              83
  43  Mug             0.649          0.914          -1.582         0              270            0              48
  44  Cabinet         -0.193         1.688          -1.648         0              180            0
  45  StoveBurner     1.360          0.957          0.293          0              180            0
  46  Drawer          0.499          0.792          0.296          0              0              0
  47  Cabinet         0.095          0.400          -1.352         0              180            0
  48  Sink            0.711          0.817          -1.772         0              270            0
  49  CounterTop      0.280          0.947          0.458          0              0              0
  50  CounterTop      -0.680         0.947          -1.654         0              0              0
  51  Drawer          1.825          0.792          0.296          0              0              0
  52  StoveBurner     1.007          0.957          0.561          0              270            0
  53  Drawer          -0.150         0.792          -1.496         0              0              0
  54  Drawer          -0.586         0.792          -1.496         0              0              0
  55  StoveBurner     1.360          0.957          0.561          0              270            0
  56  Drawer          0.024          0.792          0.296          0              0              0
  57  Cabinet         1.079          0.400          -1.349         0              180            0
  58  Cabinet         1.669          0.402          0.151          0              0              0
  59  Cabinet         0.055          0.402          -1.351         0              0              0
  60  Cabinet         -0.180         0.402          0.151          0              0              0
  61  Cabinet         0.729          0.402          0.151          0              0              0
  62  StoveBurner     1.007          0.957          0.293          0              180            0
  63  Drawer          -1.100         0.792          -1.496         0              0              0
  64  Cabinet         -0.396         0.402          -1.351         0              0              0
  65  CounterTop      1.776          0.947          0.458          0              0              0
  66  Cabinet         1.974          1.688          -1.648         0              180            0
  67  Cabinet         -0.820         0.400          -1.349         0              180            0
  68  Toaster         0.305          0.900          0.552          0              180            0
  69  LightSwitch     -2.756         1.307          -0.987         0              90             0
  70  Window          0.582          1.613          -1.967         90             0              0
  71  Window          1.969          1.5            -0.615         90             270            0
  72  Microwave       -1.037         0.900          -1.723         0              0              0
  73  SinkBasin       0.377          0.765          -1.655         0              270            0
  74  CoffeeMachine   0.618          0.900          0.600          0              180            0
  75  StoveKnob       1.246          0.913          0.118          45             180            0
  76  StoveKnob       1.373          0.913          0.118          45             180            0
  77  StoveKnob       0.995          0.913          0.118          45             180            0
  78  StoveKnob       1.126          0.913          0.118          45             180            0
  79  GarbageCan      -0.368         -0.029         0.539          0              90             0
  80  Fridge          -2.134         0.0            -1.690         0              0              0
  81  Faucet          0.549          1.046          -1.833         0              232.527        0
  82  Stool           -1.475         0.000          0.414          1.233          280.375        0
  83  DiningTable     -2.255         -0.004         0.432          0              0              0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: walk over to the front of the sink | STEP 2: pick up the mug from the sink | STEP 3: take the mug over to the front of the fridge | STEP 4: put the mug in the fridge for a few moments then remove | STEP 5: take the mug to the counter to the right of the sink | STEP 6: put the mug under the coffee machine  | END