Task: Put a chilled 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           0.5            0.900          2.0            0              270            0
   1  Pan             -2.485         1.088          -0.885         0              180            0              73
   2  DishSponge      -0.211         0.910          0.647          0              0              0              41
   3  DishSponge      -2.647         1.933          -1.092         0              0              0              62
   4  ButterKnife     -0.601         0.910          1.764          0              0              0              41
   5  Kettle          0.373          1.664          -1.802         0              0              0              48
   6  Fork            1.418          0.919          -1.034         0              225            0              55
   7  Pot             1.412          0.929          -0.335         0              0              0              42
   8  Cup             -0.341         0.908          1.540          0              0              0              41
   9  Cup             -2.538         1.013          2.481          0              90             0              81
  10  Tomato          1.562          0.227          0.651          0              0              0              80
  11  PepperShaker    1.426          0.906          0.406          0              0              0              50
  12  PepperShaker    -2.455         0.905          0.931          0              0              0              69
  13  SaltShaker      0.195          0.905          -1.710         0              0              0              51
  14  SaltShaker      -2.206         0.905          0.631          0              0              0              69
  15  Bread           -2.455         0.996          1.230          0              0              0              69
  16  Mug             0.464          0.955          -1.593         0              0              0              51
  17  Mug             1.318          0.913          -1.204         0              225            0              55
  18  Pan             1.691          0.929          -0.335         0              0              0              49
  19  Knife           -2.348         0.798          0.952          0              270            0              46
  20  Apple           1.687          0.246          0.679          0              0              0              80
  21  Bowl            -0.471         0.908          1.094          0              0              0              41
  22  Fork            -2.538         0.911          0.331          0              0              0              69
  23  Bread           -2.538         0.996          0.631          0              0              0              69
  24  Plate           -2.621         0.913          1.530          0              0              0              69
  25  Egg             -2.289         0.941          1.830          0              0              0              69
  26  Kettle          -0.471         0.911          1.764          0              0              0              41
  27  Potato          -2.485         1.336          -0.979         0              90             0              73
  28  SaltShaker      1.881          0.905          -0.865         0              0              0              51
  29  Lettuce         -2.289         0.994          0.931          0              0              0              69
  30  Cup             -2.374         0.592          -0.872         0              90             0              73
  31  SoapBottle      1.341          0.913          0.435          0              270            0              50
  32  Spatula         -2.287         0.789          -0.121         0              90             0              59
  33  PaperTowelRoll  -0.341         1.015          1.317          0              0              0              41
  34  ButterKnife     1.598          0.911          0.465          0              0              0              50
  35  PepperShaker    -0.601         0.905          0.423          0              0              0              41
  36  DishSponge      1.769          0.910          0.376          0              0              0              50
  37  Pot             1.691          0.929          0.064          0              0              0              52
  38  Spoon           -0.601         0.912          1.094          0              0              0              41
  39  Tomato          -2.206         0.953          1.830          0              0              0              69
  40  Mug             -2.645         1.532          2.622          0              0              0              45
  41  CounterTop      -0.360         0.946          1.093          0              0              0
  42  StoveBurner     1.412          0.923          -0.335         0              0              0
  43  StoveKnob       1.878          1.093          0.018          287.989        90             0
  44  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  45  Cabinet         -2.446         1.948          2.924          0              0              0
  46  Drawer          -2.276         0.792          0.902          0              0              0
  47  Cabinet         -2.145         0.402          1.578          0              0              0
  48  Cabinet         0.149          2.008          -1.603         0              90             0
  49  StoveBurner     1.691          0.923          -0.335         0              0              0
  50  CounterTop      1.585          0.946          0.405          0              0              0
  51  CounterTop      0.474          0.946          -1.625         0              0              0
  52  StoveBurner     1.691          0.923          0.064          0              0              0
  53  Cabinet         -2.446         1.948          1.687          0              0              0
  54  Cabinet         -2.446         1.948          1.640          0              0              0
  55  Sink            1.381          0.810          -1.271         0              225            0
  56  StoveKnob       1.878          1.093          0.150          287.989        90             0
  57  Cabinet         -2.145         0.402          -0.236         0              0              0
  58  Drawer          -2.276         0.792          0.437          0              0              0
  59  Drawer          -2.276         0.792          -0.027         0              0              0
  60  Cabinet         1.572          2.008          0.474          0              0              0
  61  Cabinet         1.572          2.008          -0.775         0              0              0
  62  Cabinet         -2.445         2.148          -1.275         0              0              0
  63  Cabinet         -2.446         2.148          -0.284         0              0              0
  64  Cabinet         -2.446         1.948          0.355          0              0              0
  65  Cabinet         -2.446         1.948          0.405          0              0              0
  66  Cabinet         -2.145         0.402          0.644          0              0              0
  67  Cabinet         -2.145         0.402          0.695          0              0              0
  68  Cabinet         -2.285         1.968          -1.325         0              180            0
  69  CounterTop      -1.485         0.946          1.319          0              0              0
  70  StoveBurner     1.411          0.923          0.064          0              0              0
  71  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  72  Drawer          -2.276         0.792          1.368          0              0              0
  73  Fridge          -2.475         0.0            -0.782         0              90             0
  74  LightSwitch     -0.929         1.350          -1.950         0              0              0
  75  Toaster         -2.564         0.900          1.876          0              90             0
  76  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  77  Window          1.508          1.534          -1.496         90             135            0
  78  Window          1.973          1.521          1.121          90             90             0
  79  SinkBasin       1.149          0.753          -1.380         0              225            0
  80  GarbageCan      1.646          -0.000         0.679          0              0              0
  81  Microwave       -2.580         0.900          2.440          0              90             0
  82  Stool           0.439          0.010          0.747          0              0              0
  83  Stool           -2.303         0.010          1.839          0              0              0
  84  Faucet          1.235          1.138          -1.473         0              225            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Move to the coffee machine. | STEP 2: Pick up the mug from the coffee machine. | STEP 3: Bring the mug to the fridge. | STEP 4: Chill the mug in the fridge.  | STEP 5: Bring the mug to the coffee machine. | STEP 6: Put the mug on the coffee machine. | END