Task: Place a cold mug into a cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          -0.5           0              90             0
   1  Potato          -0.211         0.947          0.870          0              0              0              51
   2  DishSponge      0.292          0.910          -1.369         0              0              0              61
   3  ButterKnife     -2.289         0.910          0.631          0              0              0              79
   4  Fork            -2.379         0.774          -0.073         0              90             0              69
   5  Fork            1.337          0.920          -1.115         0              225            0              65
   6  Spoon           -0.471         0.912          0.647          0              0              0              51
   7  Spatula         -2.318         0.788          -0.121         0              90             0              69
   8  Pot             1.691          0.929          -0.335         0              0              0              59
   9  Cup             -2.485         1.298          -0.602         0              90             0              83
  10  Plate           -0.471         0.913          1.094          0              0              0              51
  11  Knife           -2.287         0.799          0.391          0              90             0              68
  12  Knife           -2.318         0.798          1.417          0              270            0              82
  13  Tomato          -2.420         0.637          -0.962         0              90             0              83
  14  SoapBottle      0.195          0.912          -1.454         0              0              0              61
  15  SoapBottle      -2.411         1.585          -1.777         0              180            0              78
  16  Bowl            -2.621         0.908          1.530          0              0              0              79
  17  PepperShaker    -2.384         0.109          0.386          0              0              0              76
  18  PepperShaker    1.684          0.906          0.346          0              270            0              60
  19  SaltShaker      -2.524         1.532          -0.165         0              0              0              74
  20  SaltShaker      0.765          0.905          -1.478         0              45             0              61
  21  Lettuce         0.048          0.994          1.317          0              0              0              51
  22  Lettuce         1.442          1.006          -1.220         0              225            0              65
  23  Bread           0.048          0.996          0.423          0              0              0              51
  24  Bread           -2.206         0.996          1.830          0              0              0              79
  25  Mug             -2.538         0.905          0.931          0              0              0              79
  26  Apple           -2.559         0.656          -0.693         0              90             0              83
  27  Apple           1.646          0.246          0.706          0              0              0              90
  28  Pan             1.412          0.929          -0.335         0              0              0              52
  29  Knife           1.599          0.936          -0.810         0              0              0              61
  30  Apple           -2.704         0.972          0.331          0              0              0              79
  31  Bowl            -0.341         0.908          1.540          0              0              0              51
  32  Fork            -2.318         0.774          0.857          0              90             0              56
  33  Bread           -0.081         0.996          1.764          0              0              0              51
  34  Plate           -2.621         0.913          1.230          0              0              0              79
  35  Egg             0.691          0.941          -1.450         0              45             0              61
  36  Kettle          1.691          0.929          0.064          0              0              0              62
  37  Potato          -0.471         0.947          0.423          0              0              0              51
  38  SaltShaker      -0.730         0.905          0.647          0              0              0              51
  39  Lettuce         -2.621         0.994          0.631          0              0              0              79
  40  Cup             1.248          0.916          -1.134         0              225            0              65
  41  SoapBottle      -0.341         0.912          0.423          0              0              0              51
  42  Spatula         -2.227         0.788          0.022          0              270            0              69
  43  PaperTowelRoll  -0.601         1.015          1.317          0              0              0              51
  44  ButterKnife     1.598          0.911          0.494          0              0              0              60
  45  PepperShaker    -0.471         0.905          1.317          0              0              0              51
  46  DishSponge      -2.411         1.583          -1.412         0              180            0              78
  47  Pot             -2.289         0.914          1.530          0              0              0              79
  48  Spoon           -2.379         0.775          0.857          0              90             0              56
  49  Tomato          -2.578         1.342          -0.790         0              90             0              83
  50  Mug             1.697          1.651          0.387          0              0              0              71
  51  CounterTop      -0.360         0.946          1.093          0              0              0
  52  StoveBurner     1.412          0.923          -0.335         0              0              0
  53  StoveKnob       1.878          1.093          0.018          287.989        90             0
  54  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  55  Cabinet         -2.446         1.948          2.924          0              0              0
  56  Drawer          -2.276         0.792          0.902          0              0              0
  57  Cabinet         -2.145         0.402          1.578          0              0              0
  58  Cabinet         0.149          2.008          -1.603         0              90             0
  59  StoveBurner     1.691          0.923          -0.335         0              0              0
  60  CounterTop      1.585          0.946          0.405          0              0              0
  61  CounterTop      0.474          0.946          -1.625         0              0              0
  62  StoveBurner     1.691          0.923          0.064          0              0              0
  63  Cabinet         -2.446         1.948          1.687          0              0              0
  64  Cabinet         -2.446         1.948          1.640          0              0              0
  65  Sink            1.381          0.810          -1.271         0              225            0
  66  StoveKnob       1.878          1.093          0.150          287.989        90             0
  67  Cabinet         -2.145         0.402          -0.236         0              0              0
  68  Drawer          -2.276         0.792          0.437          0              0              0
  69  Drawer          -2.276         0.792          -0.027         0              0              0
  70  Cabinet         1.572          2.008          0.474          0              0              0
  71  Cabinet         1.572          2.008          -0.775         0              0              0
  72  Cabinet         -2.445         2.148          -1.275         0              0              0
  73  Cabinet         -2.446         2.148          -0.284         0              0              0
  74  Cabinet         -2.446         1.948          0.355          0              0              0
  75  Cabinet         -2.446         1.948          0.405          0              0              0
  76  Cabinet         -2.145         0.402          0.644          0              0              0
  77  Cabinet         -2.145         0.402          0.695          0              0              0
  78  Cabinet         -2.285         1.968          -1.325         0              180            0
  79  CounterTop      -1.485         0.946          1.319          0              0              0
  80  StoveBurner     1.411          0.923          0.064          0              0              0
  81  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  82  Drawer          -2.276         0.792          1.368          0              0              0
  83  Fridge          -2.475         0.0            -0.782         0              90             0
  84  LightSwitch     -0.929         1.350          -1.950         0              0              0
  85  Toaster         -2.564         0.900          1.876          0              90             0
  86  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  87  Window          1.508          1.534          -1.496         90             135            0
  88  Window          1.973          1.521          1.121          90             90             0
  89  SinkBasin       1.149          0.753          -1.380         0              225            0
  90  GarbageCan      1.646          -0.000         0.679          0              0              0
  91  Microwave       -2.580         0.900          2.440          0              90             0
  92  Stool           0.439          0.010          0.747          0              0              0
  93  Stool           -2.303         0.010          1.839          0              0              0
  94  Faucet          1.235          1.138          -1.473         0              225            0
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: turn around and head forward, take a right at the fridge then a left to face the counter the is to the right of the fridge | STEP 2: Pick up the white coffee mug that is sitting on the counter | STEP 3: Turn left and walk to the fridge, then turn right and face the fridge | STEP 4: Open the fridge and place the white coffee mug into the freezer then close the door. Then open the fridge and pick up the coffee mug that is in the freezer and close the door | STEP 5: Take a step backward and continue to face the fridge | STEP 6: Open the cabinet that is under the counter directly to the right of the fridge and place the coffee mug inside the cabinet and close the door | END