Task: Put a chilled mug on a 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           0.0            0.930          -0.25          0              0              0
   1  Pan             3.122          0.900          -0.698         0              270            0              59
   2  Ladle           3.028          0.214          0.700          0              180            0              69
   3  Ladle           -0.099         0.937          -1.635         0              135            0              81
   4  DishSponge      -0.717         0.899          -0.494         0              0              0              60
   5  ButterKnife     -0.868         0.706          0.489          0              0              0              64
   6  Glassbottle     0.856          1.675          -1.341         0              0              0              75
   7  Kettle          -0.419         0.902          -1.269         0              315            0              62
   8  Pot             -0.420         0.902          -0.920         0              135            0              55
   9  Spoon           -0.868         0.132          -0.186         0              0              0              80
  10  Apple           0.101          0.974          -1.516         0              0              0              81
  11  Lettuce         1.098          0.973          0.889          0              0              0              91
  12  SaltShaker      3.122          0.897          -0.499         0              0              0              59
  13  Bowl            0.760          1.671          -1.550         0              0              0              75
  14  Tomato          1.008          1.284          -1.503         0              0              0              106
  15  Tomato          3.155          0.137          1.519          0              225            0              101
  16  Egg             1.086          1.126          -1.503         0              0              0              106
  17  Plate           3.102          1.477          -1.235         0              0              0              74
  18  Plate           3.113          1.477          -1.648         0              0              0              58
  19  Knife           -0.789         0.925          0.399          0              90             0              60
  20  Knife           -0.192         0.925          -1.542         0              135            0              81
  21  Plate           0.798          0.921          0.527          0              0              0              91
  22  Glassbottle     2.888          0.901          -0.599         0              0              0              59
  23  SoapBottle      1.351          1.683          -1.410         0              0              0              51
  24  Potato          -1.119         1.036          1.523          0              90             0              108
  25  Fork            -0.862         0.900          0.399          0              0              0              60
  26  Ladle           2.971          0.214          0.559          0              90             0              69
  27  Pot             -0.935         0.900          0.846          0              0              0              60
  28  Kettle          0.661          0.909          0.176          0              36.810         0              91
  29  Spatula         3.393          0.915          0.104          0              90             0              59
  30  Knife           1.360          0.933          0.747          0              0              0              91
  31  Lettuce         -0.717         0.965          -0.047         0              0              0              60
  32  Cup             3.212          1.262          -0.854         0              0              0              73
  33  SaltShaker      -0.868         0.322          1.168          0              0              0              95
  34  Egg             2.888          0.953          0.562          0              0              0              59
  35  PepperShaker    3.393          0.897          -0.023         0              0              0              59
  36  ButterKnife     0.622          0.911          0.627          0              0              0              91
  37  Apple           0.436          0.981          0.223          0              36.810         0              91
  38  Pan             0.341          0.873          -1.649         0              167.065        0              81
  39  Bread           -0.862         0.979          0.176          0              0              0              60
  40  CellPhone       0.445          0.905          0.527          0              0              0              91
  41  DishSponge      -0.786         0.706          0.401          0              0              0              64
  42  Tomato          1.242          0.750          -1.407         0              0              0              106
  43  Spoon           2.966          0.901          -0.499         0              0              0              59
  44  Bowl            3.141          0.172          -0.404         0              0              0              71
  45  Mug             3.049          0.966          0.591          0              270            0              103
  46  Drawer          0.376          0.572          -1.509         0              0              0
  47  Drawer          3.020          0.769          -0.783         0              180            0
  48  Drawer          -0.860         0.577          1.429          0              0              0
  49  StoveBurner     -0.600         0.897          -1.090         0              135            0
  50  Drawer          0.376          0.191          -1.509         0              0              0
  51  Cabinet         1.402          1.874          -1.259         0              0              0
  52  Cabinet         -0.202         1.963          -1.328         0              0              0
  53  Drawer          -0.860         0.765          1.429          0              0              0
  54  Drawer          -0.677         0.765          -0.700         0              0              0
  55  StoveBurner     -0.420         0.897          -0.920         0              135            0
  56  Drawer          3.020          0.769          -0.407         0              180            0
  57  Drawer          -0.860         0.577          0.663          0              0              0
  58  Cabinet         2.819          1.768          -1.850         0              0              0
  59  CounterTop      3.111          0.936          0.019          0              0              0
  60  CounterTop      -1.007         0.935          -0.039         0              0              0
  61  Drawer          -0.860         0.385          0.663          0              0              0
  62  StoveBurner     -0.419         0.897          -1.269         0              315            0
  63  Drawer          -0.047         0.573          -1.324         0              0              0
  64  Drawer          -0.860         0.765          0.663          0              0              0
  65  Drawer          -0.860         0.385          -0.100         0              0              0
  66  Drawer          0.376          0.380          -1.509         0              0              0
  67  Drawer          -0.860         0.765          -0.100         0              0              0
  68  Drawer          0.376          0.765          -1.509         0              0              0
  69  Cabinet         2.849          0.419          0.409          0              0              0
  70  Drawer          -0.047         0.765          -1.324         0              0              0
  71  Cabinet         2.849          0.419          -0.610         0              0              0
  72  Cabinet         2.849          0.419          -0.959         0              0              0
  73  Cabinet         3.069          1.666          -0.709         0              0              0
  74  Cabinet         2.819          1.768          -1.047         0              0              0
  75  Cabinet         0.620          1.874          -1.259         0              0              0
  76  Cabinet         0.140          1.666          -1.559         0              0              0
  77  Cabinet         -0.189         1.666          -1.340         0              0              0
  78  Cabinet         -0.709         1.963          -0.819         0              0              0
  79  Cabinet         -0.920         1.665          -0.620         0              0              0
  80  Drawer          -0.860         0.190          -0.100         0              0              0
  81  CounterTop      0.133          0.935          -1.457         0              0              0
  82  Drawer          3.020          0.769          0.695          0              180            0
  83  Drawer          -0.677         0.577          -0.700         0              0              0
  84  Drawer          -0.860         0.190          1.429          0              0              0
  85  Drawer          -0.047         0.192          -1.324         0              0              0
  86  Drawer          -0.677         0.193          -0.700         0              0              0
  87  Drawer          -0.860         0.577          -0.100         0              0              0
  88  Sink            3.078          0.887          0.086          0              0              0
  89  StoveBurner     -0.239         0.897          -1.089         0              315            0
  90  Drawer          -0.860         0.190          0.663          0              0              0
  91  CounterTop      1.210          0.937          0.463          0              0              0
  92  Drawer          -0.047         0.381          -1.324         0              0              0
  93  Drawer          -0.677         0.387          -0.700         0              0              0
  94  Mirror          -1.295         1.630          0.045          0              0              0
  95  Drawer          -0.860         0.385          1.429          0              0              0
  96  HousePlant      3.196          0.891          -0.368         0              0              0
  97  StoveKnob       -0.090         0.790          -1.009         270            45             0
  98  StoveKnob       -0.280         0.790          -0.819         270            45             0
  99  StoveKnob       -0.180         0.790          -0.920         270            45             0
 100  StoveKnob       -0.370         0.790          -0.720         270            45             0
 101  GarbageCan      3.137          0.025          1.545          0              225            0
 102  Window          3.703          1.675          0.046          90             90             0
 103  CoffeeMachine   3.214          0.890          0.697          0              270            0
 104  LightSwitch     2.592          1.309          -1.880         0              0              0
 105  SinkBasin       3.069          0.736          0.108          0              90             0
 106  Fridge          1.008          0.029          -1.467         0              0              0
 107  Toaster         -1.035         0.873          -0.396         0              90             0
 108  Microwave       -1.034         0.874          1.428          0              90             0
 109  Faucet          3.305          0.886          0.094          270            180            0
 110  NorthWall
 111  EastWall
 112  SouthWall
 113  WestWall

Plan:
STEP 1: Turn around to your right. Walk around the counter to the right and stop at the coffee marker on the right.  | STEP 2: Pick up the mug from the coffee maker.  | STEP 3: Take the mug and turn right. Walk forward then turn right again. Face the refrigerator on your left.  | STEP 4: Put the mug inside of the refrigerator then close it. Wait a moment then take the mug out of the refrigerator.  | STEP 5: Turn around to the left, walk forward to the coffee machine that is on your right.  | STEP 6: Place cup on to the coffee maker.  | END