Task: Put a cold mug in the sink.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          0.0            0              90             0
   1  Potato          -2.420         0.631          -0.603         0              90             0              81
   2  DishSponge      1.562          0.184          0.706          0              0              0              88
   3  DishSponge      -2.257         0.772          0.486          0              0              0              66
   4  ButterKnife     1.426          0.918          -1.096         0              225            0              63
   5  Kettle          -2.564         1.538          -0.092         0              270            0              72
   6  Fork            1.846          0.911          -0.897         0              0              0              59
   7  Spatula         -2.318         0.789          0.809          0              90             0              54
   8  Spatula         -2.289         0.925          0.631          0              0              0              77
   9  Pot             1.691          0.929          -0.335         0              0              0              57
  10  Egg             -0.471         0.941          1.540          0              0              0              49
  11  Egg             1.131          0.794          -1.290         0              225            0              87
  12  Cup             -2.570         1.013          2.481          0              90             0              89
  13  Cup             -2.532         1.087          -0.885         0              90             0              81
  14  Plate           -2.466         0.597          -0.962         0              90             0              81
  15  Knife           -2.455         0.936          1.230          0              0              0              77
  16  Knife           -2.227         0.799          0.857          0              90             0              54
  17  Tomato          -0.341         0.953          1.764          0              0              0              49
  18  SoapBottle      -2.609         1.935          -1.092         0              0              0              70
  19  SoapBottle      1.442          0.924          -1.220         0              225            0              63
  20  PepperShaker    -0.341         0.905          0.647          0              0              0              49
  21  SaltShaker      -2.704         0.905          0.031          0              0              0              77
  22  SaltShaker      -2.484         1.578          -1.558         0              180            0              76
  23  Lettuce         -2.289         0.994          1.230          0              0              0              77
  24  Lettuce         -2.485         1.172          -0.602         0              90             0              81
  25  Mug             -0.730         0.905          0.870          0              0              0              49
  26  Pan             0.0            0.9            0.948          0              29.999         0              49
  27  Knife           -2.287         0.799          1.322          0              90             0              80
  28  Apple           -0.471         0.972          1.764          0              0              0              49
  29  Bowl            -2.277         0.112          0.386          0              0              0              74
  30  Fork            1.769          0.911          0.435          0              0              0              58
  31  Bread           -2.538         0.996          1.530          0              0              0              77
  32  Plate           -2.538         0.913          0.631          0              0              0              77
  33  Egg             1.256          0.949          -1.196         0              225            0              63
  34  Kettle          1.412          0.929          -0.335         0              0              0              50
  35  Potato          1.310          0.954          -1.142         0              225            0              63
  36  SaltShaker      -2.564         1.532          2.404          0              0              0              53
  37  Lettuce         0.048          0.994          1.540          0              0              0              49
  38  Cup             -2.677         1.535          2.129          0              0              0              61
  39  SoapBottle      -0.730         0.912          1.540          0              180            0              49
  40  Spatula         1.383          0.933          -0.999         0              225            0              63
  41  PaperTowelRoll  1.771          0.289          0.734          0              0              0              88
  42  ButterKnife     -2.289         0.910          0.331          0              0              0              66
  43  PepperShaker    -2.484         1.578          -1.412         0              180            0              76
  44  DishSponge      -2.241         0.114          1.371          0              0              0              55
  45  Pot             1.411          0.929          0.064          0              0              0              78
  46  Spoon           1.318          0.919          -1.204         0              225            0              63
  47  Tomato          -2.578         1.342          -0.602         0              90             0              81
  48  Mug             -2.605         1.933          -0.578         0              0              0              71
  49  CounterTop      -0.360         0.946          1.093          0              0              0
  50  StoveBurner     1.412          0.923          -0.335         0              0              0
  51  StoveKnob       1.878          1.093          0.018          287.989        90             0
  52  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  53  Cabinet         -2.446         1.948          2.924          0              0              0
  54  Drawer          -2.276         0.792          0.902          0              0              0
  55  Cabinet         -2.145         0.402          1.578          0              0              0
  56  Cabinet         0.149          2.008          -1.603         0              90             0
  57  StoveBurner     1.691          0.923          -0.335         0              0              0
  58  CounterTop      1.585          0.946          0.405          0              0              0
  59  CounterTop      0.474          0.946          -1.625         0              0              0
  60  StoveBurner     1.691          0.923          0.064          0              0              0
  61  Cabinet         -2.446         1.948          1.687          0              0              0
  62  Cabinet         -2.446         1.948          1.640          0              0              0
  63  Sink            1.381          0.810          -1.271         0              225            0
  64  StoveKnob       1.878          1.093          0.150          287.989        90             0
  65  Cabinet         -2.145         0.402          -0.236         0              0              0
  66  Drawer          -2.276         0.792          0.437          0              0              0
  67  Drawer          -2.276         0.792          -0.027         0              0              0
  68  Cabinet         1.572          2.008          0.474          0              0              0
  69  Cabinet         1.572          2.008          -0.775         0              0              0
  70  Cabinet         -2.445         2.148          -1.275         0              0              0
  71  Cabinet         -2.446         2.148          -0.284         0              0              0
  72  Cabinet         -2.446         1.948          0.355          0              0              0
  73  Cabinet         -2.446         1.948          0.405          0              0              0
  74  Cabinet         -2.145         0.402          0.644          0              0              0
  75  Cabinet         -2.145         0.402          0.695          0              0              0
  76  Cabinet         -2.285         1.968          -1.325         0              180            0
  77  CounterTop      -1.485         0.946          1.319          0              0              0
  78  StoveBurner     1.411          0.923          0.064          0              0              0
  79  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  80  Drawer          -2.276         0.792          1.368          0              0              0
  81  Fridge          -2.475         0.0            -0.782         0              90             0
  82  LightSwitch     -0.929         1.350          -1.950         0              0              0
  83  Toaster         -2.564         0.900          1.876          0              90             0
  84  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  85  Window          1.508          1.534          -1.496         90             135            0
  86  Window          1.973          1.521          1.121          90             90             0
  87  SinkBasin       1.149          0.753          -1.380         0              225            0
  88  GarbageCan      1.646          -0.000         0.679          0              0              0
  89  Microwave       -2.580         0.900          2.440          0              90             0
  90  Stool           0.439          0.010          0.747          0              0              0
  91  Stool           -2.303         0.010          1.839          0              0              0
  92  Faucet          1.235          1.138          -1.473         0              225            0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Go straight and to the left to the kitchen island. | STEP 2: Take the mug from the kitchen island. | STEP 3: Turn right, go forward a little, turn right to face the fridge. | STEP 4: Put the mug on the lowest level of the top compartment of the fridge. Close then open the fridge door. Take the mug from the fridge. | STEP 5: Turn around, go straight all the way to the counter to the left of the sink, turn right to face the sink. | STEP 6: Put the mug in the sink. | END