Task: Place a cool mug into 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           1.25           0.900          0.25           0              0              0
   1  Statue          -0.897         0.918          -1.845         0              0              0              76
   2  Ladle           -0.119         0.732          0.181          0              270            0              75
   3  Ladle           -0.186         0.732          0.181          0              270            0              75
   4  DishSponge      2.900          0.879          0.141          0              180            0              82
   5  ButterKnife     -0.598         1.131          0.706          0              180            0              72
   6  ButterKnife     -0.375         1.131          0.529          0              0              0              72
   7  Pot             -1.289         0.957          -0.756         0              180            0              51
   8  Spatula         -0.319         0.711          0.098          0              90             0              75
   9  Egg             2.055          1.132          -0.458         0              270            0              83
  10  Egg             -0.376         0.797          -2.063         0              0              0              86
  11  Plate           1.194          0.909          -2.014         0              0              0              76
  12  Knife           1.419          0.934          -2.183         0              90             0              76
  13  Knife           0.071          1.155          0.573          0              0              0              72
  14  Tomato          -0.152         1.181          0.529          0              0              0              72
  15  Tomato          -1.413         0.963          -0.231         0              0              0              69
  16  PepperShaker    2.491          0.876          0.114          0              180            0              80
  17  Apple           -0.117         0.811          -1.952         0              0              0              86
  18  Pan             1.743          0.9            -1.969         0              308.846        0              76
  19  Knife           -1.247         0.937          -0.170         0              0              0              69
  20  Bowl            1.950          1.649          -1.541         0              0              0              54
  21  Fork            0.055          0.763          -2.063         0              0              0              86
  22  Cup             0.101          0.750          -1.938         0              0              0              86
  23  Ladle           -1.018         0.948          -2.182         0              0              0              76
  24  Apple           1.963          0.111          0.109          0              0              0              79
  25  Kettle          2.798          0.553          0.142          0              270            0              82
  26  Vase            -0.657         0.913          -2.182         0              0              0              76
  27  Potato          1.963          0.093          0.195          0              0              0              79
  28  Pot             -1.289         0.957          -1.02          0              0              0              66
  29  Bread           -0.822         1.213          0.573          0              0              0              72
  30  Plate           1.846          1.013          -1.297         0              270            0              81
  31  Spatula         -0.031         0.778          -1.952         0              270            0              86
  32  PaperTowelRoll  -0.420         1.017          0.083          0              0              0              69
  33  Vase            1.873          1.666          -1.236         0              0              0              53
  34  Egg             2.000          1.132          -0.551         0              270            0              83
  35  SoapBottle      -0.420         0.913          0.241          0              0              0              69
  36  SaltShaker      1.746          0.113          -1.527         0              0              0              50
  37  Lettuce         -0.256         0.867          -1.969         327.984        40.845         31.472         86
  38  PepperShaker    -1.278         1.654          -1.916         0              0              0              58
  39  ButterKnife     -0.290         0.763          -2.008         0              0              0              86
  40  DishSponge      2.487          0.551          0.090          0              180            0              82
  41  Vase            2.979          0.539          0.128          0              0              0              82
  42  Spoon           -0.062         0.9            0.104          0              208.850        0              69
  43  Tomato          1.891          0.866          -0.830         0              270            0              83
  44  Mug             3.109          0.547          0.193          0              180            0              82
  45  Statue          -1.322         0.918          -1.553         0              0              0              76
  46  Drawer          -0.819         0.75           -1.690         0              0              0
  47  Cabinet         -1.149         2.264          -0.838         0              90             0
  48  StoveBurner     -1.056         0.949          -0.671         0              180            0
  49  Cabinet         1.738          2.019          -2.000         0              0              0
  50  Cabinet         1.389          0.469          -1.059         0              0              0
  51  StoveBurner     -1.289         0.949          -0.755         0              180            0
  52  Faucet          -0.157         1.052          -2.196         0              270            0
  53  Cabinet         1.75           2.019          -1.029         0              0              0
  54  Cabinet         1.75           2.019          -1.399         0              0              0
  55  Cabinet         1.179          2.019          -2.0           0              0              0
  56  Cabinet         0.199          2.019          -2.0           0              0              0
  57  Cabinet         -1.100         2.019          -2.0           0              0              0
  58  Cabinet         -1.149         2.019          -1.979         0              0              0
  59  Cabinet         -1.149         2.019          -0.770         0              0              0
  60  Cabinet         -1.149         2.019          0.380          0              0              0
  61  Cabinet         -0.819         0.469          -1.689         0              0              0
  62  Cabinet         -0.839         0.469          -1.664         0              0              0
  63  Cabinet         -0.839         0.469          -0.049         0              0              0
  64  Cabinet         -0.414         0.370          -0.009         0              0              0
  65  Sink            -0.118         0.875          -2.009         0              0              0
  66  StoveBurner     -1.289         0.949          -1.019         0              0              0
  67  Cabinet         0.119          2.264          -2.0           0              0              0
  68  Cabinet         -0.459         2.264          -2.0           0              0              0
  69  CounterTop      -0.665         0.949          0.188          0              0              0
  70  Drawer          -0.449         0.75           -0.010         0              180            0
  71  Cabinet         -0.450         0.469          -0.009         0              0              0
  72  CounterTop      -0.630         1.167          0.573          0              0              0
  73  StoveBurner     -1.056         0.949          -1.126         0              0              0
  74  Cabinet         1.376          0.460          -1.685         0              0              0
  75  Drawer          -0.070         0.75           -0.009         0              180            0
  76  CounterTop      1.159          0.946          -2.013         0              0              0
  77  Cabinet         -1.150         2.264          -1.418         0              90             0
  78  HousePlant      -1.246         1.108          0.606          0              0              0
  79  GarbageCan      1.923          -0.010         0.137          0              0              0
  80  Shelf           2.759          0.880          0.144          0              0              0
  81  Microwave       1.827          0.900          -1.354         0              270            0
  82  Shelf           2.759          0.552          0.145          0              0              0
  83  Fridge          1.975          0.0            -0.537         0              0              0
  84  LightSwitch     0.404          1.297          2.0            0              180            0
  85  Shelf           2.760          0.172          0.145          0              0              0
  86  SinkBasin       -0.129         0.752          -2.007         0              0              0
  87  StoveKnob       -0.873         0.903          -0.827         45             90             0
  88  StoveKnob       -0.873         0.903          -0.676         45             90             0
  89  StoveKnob       -0.873         0.903          -0.966         45             90             0
  90  StoveKnob       -0.873         0.903          -1.123         45             90             0
  91  Toaster         0.840          0.900          -2.057         0              0              0
  92  CoffeeMachine   0.501          0.900          -2.125         0              0              0
  93  ShelvingUnit    2.760          0.006          0.144          0              0              0
  94  Stool           -0.826         0.010          0.908          0              347.513        0
  95  Stool           -0.132         0.010          0.883          0              71.555         0
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: turn to the right, go to the shelf in the room, and turn to face it | STEP 2: pick up the mug on the middle shelf | STEP 3: turn right and head to the refrigerator across the room | STEP 4: open the refrigerator, place the mug on the shelf with the tomato, close the refrigerator, wait 7 seconds, open the refrigerator, take the mug | STEP 5: turn around and take the mug to the coffee maker next to the sink | STEP 6: place the mug on the metal shelf of the coffee maker | END