Task: Place a chilled 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           -0.25          0.930          1.0            0              0              0
   1  Potato          3.152          0.785          0.098          0              90             0              108
   2  Potato          1.008          0.924          -1.475         0              0              0              109
   3  DishSponge      2.987          0.746          0.231          0              90             0              108
   4  ButterKnife     -1.080         0.900          0.176          0              0              0              63
   5  Glassbottle     3.084          0.176          -0.744         0              0              0              75
   6  Kettle          -0.600         0.902          -1.090         0              135            0              52
   7  Spatula         3.070          0.762          0.098          0              90             0              108
   8  Spatula         2.906          0.727          -0.314         0              270            0              59
   9  Fork            2.988          0.713          -0.823         0              90             0              50
  10  CellPhone       -1.153         0.897          -0.047         0              0              0              63
  11  CellPhone       0.836          0.908          0.410          0              36.810         0              94
  12  Apple           0.179          0.974          -1.373         0              0              0              84
  13  Apple           0.415          0.974          -1.373         0              0              0              84
  14  Lettuce         0.719          0.976          0.254          0              36.810         0              94
  15  PepperShaker    -0.745         0.514          0.751          0              0              0              60
  16  SoapBottle      3.289          0.110          1.599          0              225            0              104
  17  SoapBottle      2.971          0.184          -0.307         0              0              0              74
  18  Tomato          0.553          0.947          0.379          0              36.810         0              94
  19  Tomato          1.164          0.748          -1.381         0              0              0              109
  20  Egg             2.888          0.953          0.485          0              0              0              62
  21  Cup             0.887          0.905          0.527          0              0              0              94
  22  Cup             0.454          1.257          -1.776         0              0              0              79
  23  Knife           -0.987         0.925          -0.746         0              135            0              63
  24  Plate           3.140          0.190          0.700          0              0              0              72
  25  Glassbottle     1.098          0.911          0.322          0              0              0              94
  26  SoapBottle      0.836          0.917          0.747          0              0              0              94
  27  Potato          -1.052         1.036          1.258          0              0              0              111
  28  Fork            -0.991         0.326          -0.011         0              90             0              68
  29  Ladle           0.967          0.947          0.747          0              0              0              94
  30  Pot             0.423          0.900          0.869          0              0              0              94
  31  Kettle          1.491          0.909          0.747          0              0              0              94
  32  Spatula         3.152          0.762          0.032          0              0              0              108
  33  Knife           0.547          0.936          0.140          0              36.810         0              94
  34  Lettuce         0.007          0.965          -1.435         0              45             0              84
  35  Cup             -1.052         0.995          1.364          0              90             0              111
  36  SaltShaker      -0.827         0.127          -0.098         0              0              0              83
  37  Egg             1.008          1.300          -1.503         0              0              0              109
  38  PepperShaker    -0.991         0.702          -0.011         0              0              0              70
  39  ButterKnife     0.101          0.900          -1.660         0              0              0              84
  40  Apple           -0.703         0.974          -0.517         0              45             0              63
  41  Pan             -0.419         0.902          -1.269         0              315            0              65
  42  Bread           1.534          0.972          0.486          0              289.287        0              94
  43  CellPhone       0.445          0.908          0.426          0              0              0              94
  44  DishSponge      -0.827         0.130          0.076          0              0              0              83
  45  Tomato          1.008          0.748          -1.433         0              0              0              109
  46  Spoon           -0.868         0.519          -0.186         0              0              0              90
  47  Bowl            -0.862         0.897          0.846          0              0              0              63
  48  Mug             1.086          1.068          -1.531         0              90             0              109
  49  Drawer          0.376          0.572          -1.509         0              0              0
  50  Drawer          3.020          0.769          -0.783         0              180            0
  51  Drawer          -0.860         0.577          1.429          0              0              0
  52  StoveBurner     -0.600         0.897          -1.090         0              135            0
  53  Drawer          0.376          0.191          -1.509         0              0              0
  54  Cabinet         1.402          1.874          -1.259         0              0              0
  55  Cabinet         -0.202         1.963          -1.328         0              0              0
  56  Drawer          -0.860         0.765          1.429          0              0              0
  57  Drawer          -0.677         0.765          -0.700         0              0              0
  58  StoveBurner     -0.420         0.897          -0.920         0              135            0
  59  Drawer          3.020          0.769          -0.407         0              180            0
  60  Drawer          -0.860         0.577          0.663          0              0              0
  61  Cabinet         2.819          1.768          -1.850         0              0              0
  62  CounterTop      3.111          0.936          0.019          0              0              0
  63  CounterTop      -1.007         0.935          -0.039         0              0              0
  64  Drawer          -0.860         0.385          0.663          0              0              0
  65  StoveBurner     -0.419         0.897          -1.269         0              315            0
  66  Drawer          -0.047         0.573          -1.324         0              0              0
  67  Drawer          -0.860         0.765          0.663          0              0              0
  68  Drawer          -0.860         0.385          -0.100         0              0              0
  69  Drawer          0.376          0.380          -1.509         0              0              0
  70  Drawer          -0.860         0.765          -0.100         0              0              0
  71  Drawer          0.376          0.765          -1.509         0              0              0
  72  Cabinet         2.849          0.419          0.409          0              0              0
  73  Drawer          -0.047         0.765          -1.324         0              0              0
  74  Cabinet         2.849          0.419          -0.610         0              0              0
  75  Cabinet         2.849          0.419          -0.959         0              0              0
  76  Cabinet         3.069          1.666          -0.709         0              0              0
  77  Cabinet         2.819          1.768          -1.047         0              0              0
  78  Cabinet         0.620          1.874          -1.259         0              0              0
  79  Cabinet         0.140          1.666          -1.559         0              0              0
  80  Cabinet         -0.189         1.666          -1.340         0              0              0
  81  Cabinet         -0.709         1.963          -0.819         0              0              0
  82  Cabinet         -0.920         1.665          -0.620         0              0              0
  83  Drawer          -0.860         0.190          -0.100         0              0              0
  84  CounterTop      0.133          0.935          -1.457         0              0              0
  85  Drawer          3.020          0.769          0.695          0              180            0
  86  Drawer          -0.677         0.577          -0.700         0              0              0
  87  Drawer          -0.860         0.190          1.429          0              0              0
  88  Drawer          -0.047         0.192          -1.324         0              0              0
  89  Drawer          -0.677         0.193          -0.700         0              0              0
  90  Drawer          -0.860         0.577          -0.100         0              0              0
  91  Sink            3.078          0.887          0.086          0              0              0
  92  StoveBurner     -0.239         0.897          -1.089         0              315            0
  93  Drawer          -0.860         0.190          0.663          0              0              0
  94  CounterTop      1.210          0.937          0.463          0              0              0
  95  Drawer          -0.047         0.381          -1.324         0              0              0
  96  Drawer          -0.677         0.387          -0.700         0              0              0
  97  Mirror          -1.295         1.630          0.045          0              0              0
  98  Drawer          -0.860         0.385          1.429          0              0              0
  99  HousePlant      3.196          0.891          -0.368         0              0              0
 100  StoveKnob       -0.090         0.790          -1.009         270            45             0
 101  StoveKnob       -0.280         0.790          -0.819         270            45             0
 102  StoveKnob       -0.180         0.790          -0.920         270            45             0
 103  StoveKnob       -0.370         0.790          -0.720         270            45             0
 104  GarbageCan      3.137          0.025          1.545          0              225            0
 105  Window          3.703          1.675          0.046          90             90             0
 106  CoffeeMachine   3.214          0.890          0.697          0              270            0
 107  LightSwitch     2.592          1.309          -1.880         0              0              0
 108  SinkBasin       3.069          0.736          0.108          0              90             0
 109  Fridge          1.008          0.029          -1.467         0              0              0
 110  Toaster         -1.035         0.873          -0.396         0              90             0
 111  Microwave       -1.034         0.874          1.428          0              90             0
 112  Faucet          3.305          0.886          0.094          270            180            0
 113  NorthWall
 114  EastWall
 115  SouthWall
 116  WestWall

Plan:
STEP 1: Turn right and move to the counter area between the black refrigerator and the silver range. | STEP 2: Open the cabinet to the right of the refrigerator, pick up the amber colored mug, then close the cabinet door. | STEP 3: Move to the left and face the black refrigerator. | STEP 4: Open the refrigerator, place the mug to the right of the tomato on the bottom shelf, chill the wine glass, then open the refrigerator, pick up the mug from the bottom shelf, and then close the refrigerator door. | STEP 5: Turn left and move to the sink to the left of the potted plant and in front of the window. | STEP 6: Place the mug to the right of the spatula in the sink. | END