Task: Place a chilled mug onto 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          2.0            0              0              0
   1  Potato          -1.750         0.586          0.201          0              90             0              95
   2  CellPhone       -0.106         0.923          -0.190         0              0              0              80
   3  Ladle           1.660          0.739          0.608          0              0              0              73
   4  Kettle          -0.137         0.115          -1.534         0              0              0              51
   5  Kettle          -0.320         0.926          0.041          0              0              0              80
   6  DishSponge      -1.918         1.661          -1.131         0              90             0              59
   7  DishSponge      1.603          0.583          -0.019         0              270            0              57
   8  ButterKnife     1.661          0.579          0.599          0              0              0              76
   9  ButterKnife     -0.213         0.925          0.738          0              0              0              80
  10  Fork            0.256          0.761          -1.380         0              270            0              96
  11  Fork            0.321          0.926          0.738          0              0              0              80
  12  Knife           0.107          0.947          1.202          0              0              0              80
  13  Knife           0.000          0.947          0.970          0              0              0              80
  14  Tomato          -0.175         0.815          -1.435         0              0              0              96
  15  Bowl            0.214          0.924          0.506          0              0              0              80
  16  Bowl            -0.106         0.924          0.041          0              0              0              80
  17  SaltShaker      -0.213         0.921          1.202          0              0              0              80
  18  SaltShaker      -0.106         0.921          0.970          0              0              0              80
  19  PepperShaker    -1.151         0.109          -1.360         0              0              0              84
  20  PepperShaker    0.000          0.921          0.506          0              0              0              80
  21  Lettuce         -0.002         0.837          -1.490         0              0              0              96
  22  Lettuce         -0.213         1.002          0.970          0              0              0              80
  23  Mug             -0.320         0.920          -0.190         0              0              0              80
  24  Mug             1.234          0.104          -1.479         0              0              0              61
  25  Apple           -1.750         1.726          -0.269         0              90             0              95
  26  Apple           -1.462         0.964          -1.610         0              0              0              72
  27  SoapBottle      -0.305         0.118          -1.347         0              0              0              51
  28  Cup             1.195          0.107          -1.352         0              0              0              65
  29  Pot             1.975          0.938          0.384          0              180            0              58
  30  Fork            0.083          0.760          -1.435         0              90             0              96
  31  Ladle           0.107          0.969          0.273          0              0              0              80
  32  Kettle          1.765          0.938          0.601          0              180            0              54
  33  Egg             1.988          1.063          -0.547         0              270            0              93
  34  Plate           -1.902         0.910          -0.964         0              0              0              72
  35  Pan             -1.286         0.9            -1.348         0              79.769         0              72
  36  Lettuce         -1.697         1.545          -0.081         0              90             0              95
  37  Spatula         0.321          0.940          0.041          0              0              0              80
  38  Apple           -1.803         1.522          0.201          0              90             0              95
  39  Knife           1.764          0.481          0.667          0              0              0              76
  40  SaltShaker      1.559          0.907          -0.131         0              0              0              72
  41  PepperShaker    0.305          0.109          -1.282         0              0              0              61
  42  CellPhone       1.710          0.693          -0.015         0              0              0              56
  43  ButterKnife     0.000          0.925          0.738          0              0              0              80
  44  Bread           -0.320         1.006          0.273          0              0              0              80
  45  Tomato          -1.050         0.966          -1.513         0              0              0              72
  46  Potato          1.553          0.935          1.182          0              0              0              72
  47  DishSponge      0.321          0.925          1.202          0              0              0              80
  48  Spoon           -1.551         0.912          -0.964         0              0              0              72
  49  Mug             1.892          1.001          -0.651         0              270            0              93
  50  Bowl            1.587          1.678          -1.577         0              0              0              71
  51  Cabinet         -0.495         0.474          -1.149         0              0              0
  52  Window          -0.010         1.582          -1.821         0              0              0
  53  Drawer          0.805          0.475          -1.159         0              0              0
  54  StoveBurner     1.764          0.902          0.601          0              270            0
  55  Drawer          1.5            0.196          -0.019         0              0              0
  56  Drawer          1.5            0.629          -0.018         0              0              0
  57  Drawer          1.5            0.602          -0.019         0              270            0
  58  StoveBurner     1.975          0.902          0.384          0              270            0
  59  Cabinet         -1.703         2.022          -1.453         0              90             0
  60  Cabinet         1.789          2.019          -0.819         0              270            0
  61  Cabinet         0.494          0.474          -1.149         0              0              0
  62  Cabinet         0.409          0.475          0.444          0              0              0
  63  Drawer          -0.696         0.475          -1.159         0              0              0
  64  Drawer          1.5            0.140          0.599          0              270            0
  65  Cabinet         1.389          0.474          -1.149         0              0              0
  66  Drawer          1.5            0.305          0.600          0              0              0
  67  StoveBurner     1.975          0.902          0.601          0              270            0
  68  Drawer          1.5            0.429          -0.019         0              0              0
  69  StoveBurner     1.764          0.902          0.819          0              270            0
  70  Drawer          1.5            0.519          1.220          0              0              0
  71  Cabinet         1.705          2.019          -1.449         0              0              0
  72  CounterTop      0.002          0.947          -1.513         0              0              0
  73  Drawer          1.5            0.629          0.605          0              0              0
  74  Cabinet         -0.627         2.019          -1.449         0              0              0
  75  StoveBurner     1.764          0.902          0.384          0              270            0
  76  Drawer          1.5            0.538          0.600          0              0              0
  77  Sink            0.0            0.893          -1.434         0              0              0
  78  Drawer          1.5            0.782          1.220          0              270            0
  79  Window          2.217          1.565          -0.384         0              0              0
  80  CounterTop      -0.014         0.961          0.505          0              0              0
  81  Drawer          1.5            0.200          1.220          0              0              0
  82  StoveBurner     1.975          0.902          0.819          0              270            0
  83  Window          -3.240         1.616          2.693          0              270            0
  84  Cabinet         -1.389         0.474          -1.149         0              0              0
  85  LightSwitch     -0.153         1.291          3.700          0              180            0
  86  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  87  StoveKnob       1.602          0.917          0.570          0              270            180
  88  StoveKnob       1.602          0.917          0.625          0              270            180
  89  StoveKnob       1.602          0.917          0.739          0              270            180
  90  StoveKnob       1.602          0.917          0.680          0              270            180
  91  StoveKnob       1.602          0.917          0.462          0              270            180
  92  StoveKnob       1.602          0.917          0.517          0              270            180
  93  Microwave       1.932          0.899          -0.766         0              270            0
  94  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  95  Fridge          -1.764         0.0            0.014          0              90             0
  96  SinkBasin       -0.014         0.736          -1.435         0              0              0
  97  Toaster         1.977          0.900          -0.336         0              270            0
  98  Faucet          -0.020         1.137          -1.605         0              270            0
  99  Chair           -9.354         0.000          1.242          0              180            0
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Turn right, cross the room until you reach the wall, hang a right until you reach the coffee maker on the counter. | STEP 2: Open the cabinet door beneath the coffee maker, pick up the white mug behind the clear glass from inside the cabinet, and close the door. | STEP 3: Turn right, cross the room, hang a right at the counter and turn left to face the fridge. | STEP 4: Open the fridge door, put the mug inside on the top shelf in the middle, close the door to let the mug chill for seven seconds, open the door, pick up the mug and close the door. | STEP 5: Turn left, cross the room until you reach the counter, hang a left and turn right to face the coffee maker on the counter top. | STEP 6: Place the mug onto the silver platform underneath the nozzle of the coffee maker. | END