Task: Put a chilled mug in a cabinet.

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          1.25           0              90             0
   1  ButterKnife     -0.211         0.910          0.423          0              0              0              45
   2  ButterKnife     -2.538         0.901          0.031          0              0              0              73
   3  Kettle          1.426          0.912          0.406          0              0              0              54
   4  Fork            -2.379         0.774          0.391          0              90             0              62
   5  Pot             1.412          0.929          -0.335         0              0              0              46
   6  Plate           -0.471         0.913          0.423          0              0              0              45
   7  Knife           -2.196         0.799          0.952          0              270            0              50
   8  Knife           -2.257         0.798          1.417          0              270            0              76
   9  Tomato          0.048          0.953          1.764          0              0              0              45
  10  Tomato          -2.390         0.252          -0.570         0              90             0              77
  11  Bowl            -2.455         0.908          1.230          0              0              0              73
  12  Bowl            -2.645         1.534          -0.019         0              0              0              68
  13  PepperShaker    1.855          0.906          0.376          0              0              0              54
  14  SaltShaker      -2.347         0.109          -0.122         0              0              0              61
  15  SaltShaker      -2.289         0.905          1.830          0              0              0              73
  16  Lettuce         -2.289         0.994          1.530          0              0              0              73
  17  Lettuce         -0.081         0.994          1.540          0              0              0              45
  18  Bread           -2.538         0.996          1.530          0              0              0              73
  19  Bread           -2.372         0.996          0.631          0              0              0              73
  20  Mug             1.345          0.913          -1.177         0              225            0              59
  21  Apple           1.604          0.246          0.651          0              0              0              84
  22  Pan             1.691          0.929          -0.335         0              0              0              53
  23  Knife           -2.289         0.936          0.631          0              90             0              73
  24  Apple           -2.393         1.150          -0.790         0              90             0              77
  25  Bowl            1.543          0.908          -0.792         0              45             0              55
  26  Fork            -2.379         0.773          -0.073         0              90             0              63
  27  Bread           -0.601         0.996          0.870          0              0              0              45
  28  Plate           -2.351         0.900          0.054          0              0              0              73
  29  Egg             -2.704         0.941          1.230          0              0              0              73
  30  Kettle          1.411          0.929          0.064          0              0              0              74
  31  Potato          -2.613         0.214          -1.123         0              90             0              77
  32  SaltShaker      -0.211         0.905          1.094          0              0              0              45
  33  Lettuce         -2.621         0.994          0.631          0              0              0              73
  34  Cup             -2.532         1.087          -0.885         0              90             0              77
  35  SoapBottle      -2.206         0.912          0.631          0              0              0              73
  36  Spatula         0.048          0.925          1.317          0              90             0              45
  37  PaperTowelRoll  1.598          1.015          0.376          0              0              0              54
  38  ButterKnife     -0.471         0.910          1.764          0              0              0              45
  39  PepperShaker    1.735          1.658          -0.694         0              0              0              89
  40  DishSponge      -2.638         1.537          0.774          0              0              0              69
  41  Pot             1.691          0.929          0.064          0              0              0              56
  42  Spoon           1.356          0.919          -1.026         0              225            0              59
  43  Tomato          -2.538         0.953          0.331          0              0              0              73
  44  Mug             -0.471         0.905          0.647          0              0              0              45
  45  CounterTop      -0.360         0.946          1.093          0              0              0
  46  StoveBurner     1.412          0.923          -0.335         0              0              0
  47  StoveKnob       1.878          1.093          0.018          287.989        90             0
  48  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  49  Cabinet         -2.446         1.948          2.924          0              0              0
  50  Drawer          -2.276         0.792          0.902          0              0              0
  51  Cabinet         -2.145         0.402          1.578          0              0              0
  52  Cabinet         0.149          2.008          -1.603         0              90             0
  53  StoveBurner     1.691          0.923          -0.335         0              0              0
  54  CounterTop      1.585          0.946          0.405          0              0              0
  55  CounterTop      0.474          0.946          -1.625         0              0              0
  56  StoveBurner     1.691          0.923          0.064          0              0              0
  57  Cabinet         -2.446         1.948          1.687          0              0              0
  58  Cabinet         -2.446         1.948          1.640          0              0              0
  59  Sink            1.381          0.810          -1.271         0              225            0
  60  StoveKnob       1.878          1.093          0.150          287.989        90             0
  61  Cabinet         -2.145         0.402          -0.236         0              0              0
  62  Drawer          -2.276         0.792          0.437          0              0              0
  63  Drawer          -2.276         0.792          -0.027         0              0              0
  64  Cabinet         1.572          2.008          0.474          0              0              0
  65  Cabinet         1.572          2.008          -0.775         0              0              0
  66  Cabinet         -2.445         2.148          -1.275         0              0              0
  67  Cabinet         -2.446         2.148          -0.284         0              0              0
  68  Cabinet         -2.446         1.948          0.355          0              0              0
  69  Cabinet         -2.446         1.948          0.405          0              0              0
  70  Cabinet         -2.145         0.402          0.644          0              0              0
  71  Cabinet         -2.145         0.402          0.695          0              0              0
  72  Cabinet         -2.285         1.968          -1.325         0              180            0
  73  CounterTop      -1.485         0.946          1.319          0              0              0
  74  StoveBurner     1.411          0.923          0.064          0              0              0
  75  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  76  Drawer          -2.276         0.792          1.368          0              0              0
  77  Fridge          -2.475         0.0            -0.782         0              90             0
  78  LightSwitch     -0.929         1.350          -1.950         0              0              0
  79  Toaster         -2.564         0.900          1.876          0              90             0
  80  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  81  Window          1.508          1.534          -1.496         90             135            0
  82  Window          1.973          1.521          1.121          90             90             0
  83  SinkBasin       1.149          0.753          -1.380         0              225            0
  84  GarbageCan      1.646          -0.000         0.679          0              0              0
  85  Microwave       -2.580         0.900          2.440          0              90             0
  86  Stool           0.439          0.010          0.747          0              0              0
  87  Stool           -2.303         0.010          1.839          0              0              0
  88  Faucet          1.235          1.138          -1.473         0              225            0
  89
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Turn left and walk towards the wall, then turn left and walk up to the microwave, hang a  left and walk towards the door, then turn left to face the kitchen island. | STEP 2: Pick up the white mug off of the kitchen island. | STEP 3: Turn right and walk up to the fridge. | STEP 4: Put the white mug in the upper compartment of the fridge and close the door, after a couple seconds open the fridge back up and remove the mug, then close the door. | STEP 5: Turn right and take a step forward, then turn right and take two steps and turn around. | STEP 6: Open the leftmost cabinet door below the counter to the right of the fridge and put the chilled mug inside then close the cabinet door. | END