Task: chill a mug to put inside the 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           0.25           0.900          2.0            0              270            0
   1  Potato          2.046          0.806          4.372          0              149.999        0              56
   2  Potato          1.925          0.806          4.192          0              270            0              56
   3  Ladle           -0.660         0.840          2.007          0              0              0              60
   4  Ladle           2.658          0.803          4.282          0              225            0              56
   5  Glassbottle     2.738          0.765          3.942          0              225            0              56
   6  Pot             2.177          1.027          -1.599         0              0              0              54
   7  Pot             2.116          1.027          -1.84          0              270            0              59
   8  Spoon           2.664          0.802          0.788          0              317.0          0              67
   9  Fork            2.239          0.765          4.484          0              329.999        0              56
  10  Egg             2.163          0.808          3.997          0              225            0              56
  11  Egg             -0.360         1.071          1.079          0              0              0              58
  12  Cup             2.302          0.763          4.495          0              0              0              56
  13  Plate           -0.627         0.046          2.012          0              0              0              84
  14  Plate           -0.782         0.817          1.181          0              90             0              112
  15  Tomato          -0.858         0.388          -0.295         0              90             0              99
  16  Tomato          -0.916         0.130          2.811          0              0              0              110
  17  SoapBottle      2.976          0.763          3.821          0              270            0              56
  18  Bowl            -0.984         1.779          0.910          0              0              0              73
  19  SaltShaker      1.223          1.777          -1.755         0              0              0              95
  20  PepperShaker    2.328          2.275          -1.988         0              0              0              83
  21  Lettuce         -0.851         0.874          1.337          0              90             0              112
  22  Mug             1.895          1.856          -1.775         0              0              0              101
  23  Mug             -0.984         1.776          1.363          0              0              0              89
  24  Mug             2.599          0.759          3.62           0              0              0              56
  25  Apple           2.959          1.077          -1.151         0              0              0              55
  26  Apple           2.451          0.814          3.795          0              0              0              56
  27  Pan             2.042          1.017          1.779          0              0              0              55
  28  Glassbottle     -0.987         0.786          -0.406         0              90             0              99
  29  Knife           -0.714         0.841          1.414          0              90             0              112
  30  SoapBottle      -1.187         1.026          1.243          0              0              0              58
  31  Egg             -1.013         1.486          -0.073         0              90             0              99
  32  Fork            -0.418         1.028          1.821          0              0              0              58
  33  Potato          2.451          0.806          3.97           0              270            0              56
  34  Ladle           1.396          0.829          -1.546         0              0              0              62
  35  Tomato          2.945          0.818          4.254          0              225            0              56
  36  Pot             1.836          1.027          -1.84          0              90             0              53
  37  WineBottle      2.228          0.765          4.32           0              0              0              56
  38  Plate           -0.544         1.027          0.692          0              0              0              58
  39  Spatula         1.913          0.816          1.207          0              47.0           0              69
  40  PaperTowelRoll  2.100          0.868          3.895          0              270            0              56
  41  Lettuce         2.597          0.822          3.418          0              329.999        0              56
  42  Apple           2.276          0.814          3.895          0              270            0              56
  43  SaltShaker      2.475          0.760          4.204          0              225            0              56
  44  PepperShaker    2.555          0.760          3.865          0              225            0              56
  45  ButterKnife     2.685          0.764          3.994          0              225            0              56
  46  Bread           2.741          1.085          0.059          0              0              0              55
  47  Cup             -1.028         0.784          -0.627         0              90             0              99
  48  DishSponge      -0.360         1.027          1.540          0              0              0              58
  49  Bowl            2.568          1.779          -1.911         0              0              0              94
  50  Spoon           1.290          1.028          -1.560         0              90             0              55
  51  Mug             -0.714         0.811          1.570          0              180            0              112
  52  Sink            -0.716         1.023          1.333          0              0              0
  53  StoveBurner     1.835          1.018          -1.840         0              90             0
  54  StoveBurner     2.177          1.018          -1.599         0              0              0
  55  CounterTop      2.812          0.992          0.675          0              0              0
  56  DiningTable     2.419          0.003          3.930          0              0              0
  57  Drawer          -0.643         0.828          0.616          0              0              0
  58  CounterTop      -0.813         1.062          2.188          0              0              0
  59  StoveBurner     2.115          1.018          -1.840         0              270            0
  60  Drawer          -0.643         0.831          1.953          0              0              0
  61  Drawer          -0.643         0.833          2.418          0              0              0
  62  Drawer          1.347          0.836          -1.539         0              0              0
  63  Drawer          2.693          0.833          -1.131         0              0              0
  64  Drawer          2.693          0.833          -0.699         0              0              0
  65  Drawer          2.693          0.833          -0.267         0              0              0
  66  Drawer          2.693          0.833          0.163          0              0              0
  67  Drawer          2.524          0.833          0.720          0              2.000          0
  68  Drawer          2.232          0.833          1.036          0              2.000          0
  69  Drawer          1.936          0.833          1.354          0              2.000          0
  70  Drawer          1.646          0.833          1.670          0              2.000          0
  71  Cabinet         1.504          2.475          -1.710         0              0              0
  72  Cabinet         -0.823         2.220          1.621          0              0              0
  73  Cabinet         -0.823         2.220          0.615          0              0              0
  74  Cabinet         1.136          0.388          -1.355         0              0              0
  75  Cabinet         -0.356         0.383          2.626          0              0              0
  76  Cabinet         2.745          2.220          -1.690         0              0              0
  77  Cabinet         1.882          0.383          1.017          0              0              0
  78  Cabinet         1.307          0.473          1.640          0              0              0
  79  Cabinet         1.892          0.383          1.006          0              0              0
  80  Cabinet         2.467          0.383          0.383          0              0              0
  81  Cabinet         2.466          0.383          -0.475         0              0              0
  82  Cabinet         2.466          0.473          0.371          0              0              0
  83  Cabinet         2.386          2.475          -1.710         0              0              0
  84  Cabinet         -0.356         0.383          1.712          0              0              0
  85  Cabinet         2.745          2.220          0.019          0              0              0
  86  Cabinet         -0.663         2.496          0.157          0              0              0
  87  Cabinet         -0.663         2.496          -0.868         0              0              0
  88  Cabinet         -0.356         0.383          0.269          0              0              0
  89  Cabinet         -0.823         2.220          1.603          0              0              0
  90  Cabinet         -0.662         2.234          0.586          0              0              0
  91  Cabinet         2.745          2.220          -0.843         0              0              0
  92  Cabinet         2.745          2.220          -0.827         0              0              0
  93  Cabinet         -0.823         2.220          2.608          0              0              0
  94  Cabinet         2.732          2.226          -1.709         0              0              0
  95  Cabinet         1.137          2.226          -1.709         0              0              0
  96  Cabinet         2.466          0.383          -0.491         0              0              0
  97  Cabinet         2.466          0.383          -1.339         0              0              0
  98  StoveBurner     1.761          1.018          -1.599         0              0              0
  99  Fridge          -0.908         0.0            -0.405         0              0              0
 100  HousePlant      2.517          1.016          1.822          0              0              0
 101  Microwave       1.939          1.745          -1.826         0              0              0
 102  StoveKnob       2.017          1.041          -1.514         0              180            180
 103  StoveKnob       1.934          1.041          -1.514         0              180            180
 104  StoveKnob       2.017          1.041          -1.589         0              180            180
 105  StoveKnob       1.934          1.041          -1.589         0              180            180
 106  Window          1.756          1.608          4.762          90             0              0
 107  HousePlant      2.171          1.004          2.091          0              0              0
 108  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 109  LightSwitch     -0.099         1.410          -2.066         0              0              0
 110  GarbageCan      -0.951         -0.029         2.826          0              0              0
 111  Toaster         -1.007         1.018          2.238          0              90             0
 112  SinkBasin       -0.714         0.805          1.348          0              90             0
 113  Chair           1.615          0.004          4.310          0              107.976        0
 114  Faucet          -1.120         1.013          1.334          0              90             0
 115  Chair           2.759          0.004          3.086          0              358.967        0
 116
 117  NorthWall
 118  EastWall
 119  SouthWall
 120  WestWall

Plan:
STEP 1: turn and walk to face sink | STEP 2: pick up white mug from inside sink basin | STEP 3: walk to the left to fridge, turn to face fridge | STEP 4: open fridge door, put mug on shelf with glass bottles, close door, wait, open fridge door, pick up white mug, close fridge door | STEP 5: turn right, walk to face coffee maker to the left of the kitchen sink | STEP 6: put mug inside coffee maker on the counter top | END