Task: place a cold mug under a 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           -2.5           0.901          1.5            0              180            0
   1  Pan             -0.254         0.928          4.672          0              0              0              57
   2  Potato          -0.138         1.044          0.140          0              0              0              74
   3  DishSponge      -1.878         0.661          0.355          0              0              0              58
   4  DishSponge      -2.799         0.053          0.403          0              26.101         0              69
   5  ButterKnife     -1.770         0.928          0.433          0              0              0              55
   6  Spatula         -1.085         0.943          0.650          0              0              0              55
   7  Spatula         -0.143         0.915          2.530          0              90             0              78
   8  Spoon           -0.218         0.663          0.464          0              0              0              44
   9  Spoon           -1.266         0.797          0.392          0              0              0              73
  10  Pot             -0.486         0.900          3.133          0              180            0              78
  11  Egg             -1.094         0.829          0.392          0              0              0              73
  12  Cup             -0.191         1.023          0.235          0              0              0              74
  13  Cup             -2.943         0.935          3.302          0              0              0              62
  14  Plate           -2.805         1.190          4.575          0              90             0              72
  15  Plate           -2.480         0.904          2.706          0              0              0              76
  16  Knife           -2.706         0.961          3.302          0              90             0              62
  17  Knife           -0.314         0.926          2.530          0              0              0              78
  18  SoapBottle      -0.747         1.773          0.114          0              0              0              53
  19  SoapBottle      -0.572         0.900          2.530          0              0              0              78
  20  Tomato          -2.764         1.250          4.204          0              90             0              72
  21  Lettuce         -2.583         0.980          2.309          0              0              0              76
  22  Mug             -0.350         1.018          0.140          0              90             0              74
  23  Egg             -0.921         0.832          0.502          0              0              0              73
  24  Plate           -2.892         0.904          2.309          0              0              0              76
  25  Fork            -2.789         0.901          2.573          0              0              0              76
  26  Bread           -2.870         0.940          1.982          0              358.712        0              76
  27  Apple           -2.722         1.242          4.352          0              90             0              72
  28  Lettuce         -2.831         0.378          4.427          0              90             0              72
  29  Spatula         -0.314         0.915          3.133          0              90             0              78
  30  Knife           -0.486         0.926          2.329          0              180            0              78
  31  Potato          -1.007         0.822          0.392          0              0              0              73
  32  Tomato          -2.722         0.696          4.575          0              90             0              72
  33  Cup             -0.572         0.900          3.535          0              0              0              78
  34  SaltShaker      -2.628         0.931          3.580          0              0              0              62
  35  PepperShaker    -2.480         0.896          2.177          0              0              0              76
  36  ButterKnife     -2.210         0.916          0.619          0              0              0              55
  37  SoapBottle      -0.139         1.773          0.114          0              0              0              54
  38  Pan             -0.535         0.928          4.274          0              0              0              59
  39  DishSponge      -1.716         0.661          0.300          0              0              0              58
  40  Pot             -0.572         0.900          2.932          0              0              0              78
  41  Spoon           -2.686         0.890          2.045          0              0              0              76
  42  Mug             -2.628         0.930          3.209          0              0              0              62
  43  Bowl            -2.377         0.897          1.913          0              0              0              76
  44  Drawer          -0.325         0.696          0.413          0              0              0
  45  Cabinet         -0.595         0.490          0.648          0              0              0
  46  Cabinet         -0.555         0.490          0.646          0              0              0
  47  Cabinet         -1.591         0.490          0.646          0              0              0
  48  Cabinet         -1.554         0.490          0.646          0              0              0
  49  Cabinet         -2.550         0.490          0.646          0              0              0
  50  Cabinet         -1.514         2.046          0.392          0              0              0
  51  Cabinet         -2.474         2.046          0.392          0              0              0
  52  Cabinet         -1.478         2.046          0.392          0              0              0
  53  Cabinet         -0.518         2.046          0.392          0              0              0
  54  Cabinet         -0.479         2.046          0.392          0              0              0
  55  CounterTop      -1.366         0.952          0.349          0              0              0
  56  Sink            -1.108         0.926          0.340          0              0              0
  57  StoveBurner     -0.254         0.922          4.672          0              0              0
  58  Drawer          -1.824         0.696          0.413          0              0              0
  59  StoveBurner     -0.535         0.922          4.274          0              0              0
  60  StoveBurner     -0.254         0.922          4.274          0              0              0
  61  StoveBurner     -0.536         0.922          4.672          0              0              0
  62  CounterTop      -2.780         0.971          3.487          0              0              0
  63  Drawer          -2.323         0.696          0.413          0              0              0
  64  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  66  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  67  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  68  Toaster         -0.286         0.861          3.520          0              270            0
  69  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  70  LightSwitch     -0.064         1.447          1.996          0              270            0
  71  Window          -3.075         1.593          1.361          90             90             0
  72  Fridge          -2.802         0.0            4.427          0              0              0
  73  SinkBasin       -1.106         0.785          0.337          0              0              0
  74  Microwave       -0.358         0.917          0.224          0              0              0
  75  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  76  DiningTable     -2.733         -0.003         2.607          0              270            0
  77  Faucet          -1.077         0.920          0.028          270            270            0
  78  DiningTable     -0.488         -0.003         3.182          0              270            0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: turn around and move to the table | STEP 2: pick up the mug on the table | STEP 3: move right to the fridge | STEP 4: cool the cup in the fridge and take it out | STEP 5: move left to the coffee maker | STEP 6: place the cup in the coffee maker | END