Task: Put a chilled mug on 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           2.5            0.930          -1.0           0              0              0
   1  ButterKnife     0.967          0.908          0.747          0              0              0              88
   2  Glassbottle     -0.789         0.901          -0.047         0              0              0              57
   3  Kettle          -0.420         0.902          -0.920         0              135            0              52
   4  Spatula         -0.909         0.341          1.693          0              270            0              92
   5  Spoon           3.111          0.748          0.032          0              0              0              102
   6  Spoon           -0.141         0.901          -1.491         0              45             0              78
   7  CellPhone       0.044          0.897          -1.677         0              45             0              78
   8  Mug             -1.119         0.992          1.258          0              180            0              105
   9  Bread           0.710          0.986          0.527          0              0              0              88
  10  Lettuce         -0.033         0.965          -1.291         0              45             0              78
  11  Bowl            3.141          0.172          -0.828         0              0              0              69
  12  Bowl            -1.052         0.994          1.417          0              90             0              105
  13  SoapBottle      1.351          1.683          -1.759         0              0              0              48
  14  Cup             1.360          0.905          0.747          0              0              0              88
  15  Cup             0.105          0.898          -1.430         0              45             0              78
  16  Plate           3.028          0.188          -0.404         0              0              0              68
  17  Plate           3.181          1.477          -1.648         0              0              0              55
  18  Plate           -0.702         0.913          -0.726         0              45             0              57
  19  Glassbottle     -0.862         0.901          0.623          0              0              0              57
  20  SoapBottle      3.200          0.909          -0.599         0              0              0              56
  21  Potato          0.415          0.938          -1.445         0              0              0              78
  22  Fork            -0.827         0.131          1.518          0              0              0              81
  23  Ladle           -0.868         0.743          1.605          0              0              0              50
  24  Pot             3.084          0.177          0.629          0              180            0              66
  25  Kettle          1.208          1.675          -1.410         0              0              0              48
  26  Spatula         3.355          0.915          -0.499         0              90             0              56
  27  Knife           -0.991         0.543          1.255          0              90             0              45
  28  Lettuce         0.775          0.976          0.213          0              36.810         0              88
  29  Cup             1.164          0.883          -1.503         0              0              0              103
  30  SaltShaker      3.277          0.897          -0.897         0              0              0              56
  31  Egg             0.929          1.126          -1.503         0              0              0              103
  32  PepperShaker    3.212          1.260          -0.917         0              0              0              70
  33  ButterKnife     0.445          0.908          0.928          0              0              0              88
  34  Apple           0.445          0.981          0.627          0              0              0              88
  35  Pan             0.341          0.873          -1.649         0              167.065        0              78
  36  Bread           -0.935         0.979          0.846          0              0              0              57
  37  CellPhone       0.356          0.905          0.426          0              0              0              88
  38  DishSponge      0.468          0.704          -1.434         0              0              0              65
  39  Tomato          0.929          1.284          -1.503         0              0              0              103
  40  Spoon           0.040          0.515          -1.374         0              315            0              60
  41  Bowl            0.798          0.908          0.727          0              0              0              88
  42  Mug             0.204          1.254          -1.707         0              180            0              73
  43  Drawer          0.376          0.572          -1.509         0              0              0
  44  Drawer          3.020          0.769          -0.783         0              180            0
  45  Drawer          -0.860         0.577          1.429          0              0              0
  46  StoveBurner     -0.600         0.897          -1.090         0              135            0
  47  Drawer          0.376          0.191          -1.509         0              0              0
  48  Cabinet         1.402          1.874          -1.259         0              0              0
  49  Cabinet         -0.202         1.963          -1.328         0              0              0
  50  Drawer          -0.860         0.765          1.429          0              0              0
  51  Drawer          -0.677         0.765          -0.700         0              0              0
  52  StoveBurner     -0.420         0.897          -0.920         0              135            0
  53  Drawer          3.020          0.769          -0.407         0              180            0
  54  Drawer          -0.860         0.577          0.663          0              0              0
  55  Cabinet         2.819          1.768          -1.850         0              0              0
  56  CounterTop      3.111          0.936          0.019          0              0              0
  57  CounterTop      -1.007         0.935          -0.039         0              0              0
  58  Drawer          -0.860         0.385          0.663          0              0              0
  59  StoveBurner     -0.419         0.897          -1.269         0              315            0
  60  Drawer          -0.047         0.573          -1.324         0              0              0
  61  Drawer          -0.860         0.765          0.663          0              0              0
  62  Drawer          -0.860         0.385          -0.100         0              0              0
  63  Drawer          0.376          0.380          -1.509         0              0              0
  64  Drawer          -0.860         0.765          -0.100         0              0              0
  65  Drawer          0.376          0.765          -1.509         0              0              0
  66  Cabinet         2.849          0.419          0.409          0              0              0
  67  Drawer          -0.047         0.765          -1.324         0              0              0
  68  Cabinet         2.849          0.419          -0.610         0              0              0
  69  Cabinet         2.849          0.419          -0.959         0              0              0
  70  Cabinet         3.069          1.666          -0.709         0              0              0
  71  Cabinet         2.819          1.768          -1.047         0              0              0
  72  Cabinet         0.620          1.874          -1.259         0              0              0
  73  Cabinet         0.140          1.666          -1.559         0              0              0
  74  Cabinet         -0.189         1.666          -1.340         0              0              0
  75  Cabinet         -0.709         1.963          -0.819         0              0              0
  76  Cabinet         -0.920         1.665          -0.620         0              0              0
  77  Drawer          -0.860         0.190          -0.100         0              0              0
  78  CounterTop      0.133          0.935          -1.457         0              0              0
  79  Drawer          3.020          0.769          0.695          0              180            0
  80  Drawer          -0.677         0.577          -0.700         0              0              0
  81  Drawer          -0.860         0.190          1.429          0              0              0
  82  Drawer          -0.047         0.192          -1.324         0              0              0
  83  Drawer          -0.677         0.193          -0.700         0              0              0
  84  Drawer          -0.860         0.577          -0.100         0              0              0
  85  Sink            3.078          0.887          0.086          0              0              0
  86  StoveBurner     -0.239         0.897          -1.089         0              315            0
  87  Drawer          -0.860         0.190          0.663          0              0              0
  88  CounterTop      1.210          0.937          0.463          0              0              0
  89  Drawer          -0.047         0.381          -1.324         0              0              0
  90  Drawer          -0.677         0.387          -0.700         0              0              0
  91  Mirror          -1.295         1.630          0.045          0              0              0
  92  Drawer          -0.860         0.385          1.429          0              0              0
  93  HousePlant      3.196          0.891          -0.368         0              0              0
  94  StoveKnob       -0.090         0.790          -1.009         270            45             0
  95  StoveKnob       -0.280         0.790          -0.819         270            45             0
  96  StoveKnob       -0.180         0.790          -0.920         270            45             0
  97  StoveKnob       -0.370         0.790          -0.720         270            45             0
  98  GarbageCan      3.137          0.025          1.545          0              225            0
  99  Window          3.703          1.675          0.046          90             90             0
 100  CoffeeMachine   3.214          0.890          0.697          0              270            0
 101  LightSwitch     2.592          1.309          -1.880         0              0              0
 102  SinkBasin       3.069          0.736          0.108          0              90             0
 103  Fridge          1.008          0.029          -1.467         0              0              0
 104  Toaster         -1.035         0.873          -0.396         0              90             0
 105  Microwave       -1.034         0.874          1.428          0              90             0
 106  Faucet          3.305          0.886          0.094          270            180            0
 107  NorthWall
 108  EastWall
 109  SouthWall
 110  WestWall

Plan:
STEP 1: Go clockwise around the room to the microwave, then turn left to face the microwave. | STEP 2: Remove the black mug from the microwave and close the microwave door. | STEP 3: Turn left and go counterclockwise to the fridge, then turn right to face the fridge. | STEP 4: Put the mug on the lower shelf of the fridge, then take it back out. | STEP 5: Continue counterclockwise around the room to the coffee maker on the end of the counter, then turn right to face the coffee maker. | STEP 6: Put the mug on the coffee maker, under the spout. | END