Task: chill a black mug for 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           1.0            0.900          -0.5           0              270            0
   1  ButterKnife     0.220          0.910          1.004          0              90             0              40
   2  ButterKnife     1.451          0.910          0.467          0              90             0              40
   3  DishSponge      0.963          0.760          -1.544         0              0              0              59
   4  Pot             1.543          0.909          -0.320         0              90             0              43
   5  Fork            0.553          0.911          -1.793         0              180            0              44
   6  Spatula         1.762          0.925          0.311          0              180            0              40
   7  Egg             1.771          1.050          -0.941         0              270            0              64
   8  Egg             1.917          0.945          0.518          0              90             0              40
   9  Cup             -0.838         0.458          -1.476         0              0              0              67
  10  Plate           1.805          1.634          -1.046         0              0              0              52
  11  Knife           1.684          0.943          0.467          0              180            0              40
  12  Tomato          1.501          0.974          1.269          0              90             0              40
  13  Tomato          1.800          0.134          1.588          0              270            0              58
  14  PepperShaker    1.097          0.906          -1.264         0              90             0              44
  15  Lettuce         1.757          1.010          1.092          0              90             0              40
  16  Bread           1.726          0.988          -1.717         0              90             0              44
  17  Mug             1.762          0.905          0.518          0              90             0              40
  18  Plate           1.802          1.647          -0.000         0              0              0              50
  19  SoapBottle      1.733          1.652          -0.353         0              0              0              51
  20  Cup             1.796          0.909          -1.545         0              90             0              44
  21  Egg             -0.790         1.718          -1.524         0              0              0              67
  22  Fork            1.205          0.752          -1.725         0              0              0              59
  23  Ladle           1.201          0.926          0.743          3.345          0              346.984        40
  24  Apple           -0.256         1.121          -1.382         0              0              0              67
  25  SaltShaker      1.740          2.131          1.236          0              0              0              47
  26  Pan             1.281          0.900          1.190          0              0              0              40
  27  Tomato          -0.692         0.524          -1.605         0              0              0              67
  28  Spatula         1.501          0.925          0.915          0              90             0              40
  29  Potato          1.739          0.110          1.731          0              270            0              58
  30  Knife           0.988          0.943          1.004          0              180            0              40
  31  ButterKnife     0.296          0.9            -1.296         0              14.568         0              44
  32  Bread           1.615          0.977          0.761          0              50.525         0              40
  33  Lettuce         0.856          0.989          1.120          0              270            1.529          40
  34  PepperShaker    1.805          1.630          -1.338         0              0              0              53
  35  Pot             1.548          0.909          0.075          0              180            0              46
  36  DishSponge      1.805          1.634          -1.419         0              0              0              53
  37  Spoon           0.894          0.761          -1.654         0              90             0              59
  38  Bowl            -0.741         0.745          -1.594         0              0              0              67
  39  Mug             0.502          0.940          -1.460         0              0              0              66
  40  CounterTop      0.989          0.946          1.016          0              90             0
  41  StoveBurner     1.807          0.907          0.075          0              180            0
  42  StoveBurner     1.807          0.907          -0.320         0              180            0
  43  StoveBurner     1.543          0.907          -0.320         0              90             0
  44  CounterTop      0.989          0.946          -1.516         0              90             0
  45  Sink            1.100          0.906          -1.599         0              0              0
  46  StoveBurner     1.548          0.907          0.075          0              180            0
  47  Cabinet         1.658          2.299          1.313          0              0              0
  48  Cabinet         1.658          2.299          0.686          0              0              0
  49  Cabinet         1.658          2.049          0.673          0              0              0
  50  Cabinet         1.658          2.059          0.193          0              0              0
  51  Cabinet         1.658          2.059          -0.593         0              0              0
  52  Cabinet         1.658          2.049          -0.606         0              0              0
  53  Cabinet         1.658          2.049          -1.206         0              0              0
  54  Cabinet         1.658          2.049          -1.893         0              0              0
  55  Toaster         0.131          0.900          -1.589         0              0              0
  56  Window          -0.372         1.588          3.349          90             0              0
  57  Window          0.782          1.741          -1.893         90             0              0
  58  GarbageCan      1.770          -0.029         1.685          0              270            0
  59  SinkBasin       1.091          0.740          -1.599         0              0              0
  60  StoveKnob       1.364          0.821          0.086          48.421         270            0
  61  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  62  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  63  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  64  Microwave       1.752          0.900          -0.843         0              270            0
  65  LightSwitch     2.0            1.261          3.094          0              270            0
  66  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  67  Fridge          -0.533         0.0            -1.554         0              0              0
  68  Chair           1.068          0.000          1.752          0              191.622        0
  69  Faucet          1.110          1.138          -1.764         0              270            0
  70  Chair           0.357          0.000          1.710          0              178.899        0
  71  NorthWall
  72  EastWall
  73  SouthWall
  74  WestWall

Plan:
STEP 1: turn to the left to face the coffee maker | STEP 2: pick up the black mug from inside the coffee maker | STEP 3: turn right, walk to fridge, face the fridge | STEP 4: open the fridge doors, place mug on the left shelf next to the apple, close doors, wait for mug to chill, open doors, pick up black mug | STEP 5: turn left, walk to the coffee maker on counter, turn to face coffee maker | STEP 6: place black mug inside coffee maker | END