Task: place a cold mug under 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           1.5            0.900          -1.0           0              180            0
   1  Kettle          -0.586         0.111          -1.471         0              0              0              69
   2  Potato          -2.477         0.982          0.524          0              90             0              88
   3  Potato          -2.047         0.541          -1.763         0              0              0              85
   4  Fork            0.300          0.912          0.209          0              0              0              54
   5  Fork            1.658          0.912          -1.571         0              0              0              55
   6  Spatula         0.167          0.927          0.292          0              90             0              54
   7  Spatula         -2.340         0.967          0.255          0              180            0              88
   8  Egg             -0.872         1.050          -1.737         0              0              0              77
   9  Cup             -0.096         0.910          0.458          0              0              0              54
  10  Cup             1.907          0.910          0.209          0              0              0              70
  11  SoapBottle      -0.644         1.327          -1.883         0              180            0              49
  12  Tomato          -2.614         1.001          0.704          0              90             0              88
  13  Tomato          0.035          0.961          0.458          0              0              0              54
  14  Bowl            1.681          1.328          -1.772         0              180            0              71
  15  Bowl            -0.198         0.110          -1.545         0              0              0              64
  16  SaltShaker      1.658          0.908          -1.737         0              0              0              55
  17  SaltShaker      -1.928         0.948          0.435          0              90             0              88
  18  PepperShaker    1.785          0.908          0.706          0              0              0              70
  19  PepperShaker    1.535          0.908          -1.654         0              0              0              55
  20  Bread           -2.31          1.575          -1.763         0              0              0              85
  21  Bread           1.724          0.995          0.292          0              0              0              70
  22  Mug             0.701          0.914          -1.715         0              90             0              53
  23  Mug             0.387          0.105          0.270          0              0              0              65
  24  Mug             -1.027         1.010          -1.671         0              0              0              77
  25  Apple           -0.361         0.137          0.439          0              90             0              84
  26  Bread           -1.928         1.035          0.255          0              90             0              88
  27  Knife           -1.791         0.977          0.345          0              90             0              88
  28  Fork            1.289          0.912          -1.489         0              0              0              55
  29  Bowl            -1.791         0.951          0.614          0              90             0              88
  30  Kettle          -0.055         0.9            0.643          0              0              0              54
  31  Cup             1.785          0.910          0.540          0              0              0              70
  32  Tomato          -2.477         1.001          0.165          0              90             0              88
  33  SoapBottle      -2.203         0.950          0.345          0              90             0              88
  34  Plate           0.856          0.920          -1.516         0              270            0              53
  35  Pot             1.361          0.962          0.561          0              270            0              60
  36  Spatula         -2.065         0.967          0.614          0              270            0              88
  37  PaperTowelRoll  1.289          1.016          -1.654         0              0              0              55
  38  Egg             -1.027         1.050          -1.803         0              0              0              77
  39  Lettuce         -2.135         1.142          -1.763         0              0              0              85
  40  SaltShaker      0.071          0.102          0.281          0              0              0              65
  41  PepperShaker    -2.614         0.948          0.524          0              90             0              88
  42  Apple           -2.065         1.019          0.704          0              90             0              88
  43  ButterKnife     0.564          0.912          0.209          0              0              0              54
  44  Potato          -1.959         0.541          -1.677         0              0              0              85
  45  Pan             1.022          0.959          0.288          0              219.190        0              67
  46  DishSponge      -0.451         0.911          -1.903         0              0              0              55
  47  Spoon           -1.099         0.774          -1.538         0              90             0              68
  48  Mug             0.035          0.907          0.209          0              0              0              54
  49  Cabinet         -0.193         1.688          -1.648         0              180            0
  50  StoveBurner     1.360          0.957          0.293          0              180            0
  51  Drawer          0.499          0.792          0.296          0              0              0
  52  Cabinet         0.095          0.400          -1.352         0              180            0
  53  Sink            0.711          0.817          -1.772         0              270            0
  54  CounterTop      0.280          0.947          0.458          0              0              0
  55  CounterTop      -0.680         0.947          -1.654         0              0              0
  56  Drawer          1.825          0.792          0.296          0              0              0
  57  StoveBurner     1.007          0.957          0.561          0              270            0
  58  Drawer          -0.150         0.792          -1.496         0              0              0
  59  Drawer          -0.586         0.792          -1.496         0              0              0
  60  StoveBurner     1.360          0.957          0.561          0              270            0
  61  Drawer          0.024          0.792          0.296          0              0              0
  62  Cabinet         1.079          0.400          -1.349         0              180            0
  63  Cabinet         1.669          0.402          0.151          0              0              0
  64  Cabinet         0.055          0.402          -1.351         0              0              0
  65  Cabinet         -0.180         0.402          0.151          0              0              0
  66  Cabinet         0.729          0.402          0.151          0              0              0
  67  StoveBurner     1.007          0.957          0.293          0              180            0
  68  Drawer          -1.100         0.792          -1.496         0              0              0
  69  Cabinet         -0.396         0.402          -1.351         0              0              0
  70  CounterTop      1.776          0.947          0.458          0              0              0
  71  Cabinet         1.974          1.688          -1.648         0              180            0
  72  Cabinet         -0.820         0.400          -1.349         0              180            0
  73  Toaster         0.305          0.900          0.552          0              180            0
  74  LightSwitch     -2.756         1.307          -0.987         0              90             0
  75  Window          0.582          1.613          -1.967         90             0              0
  76  Window          1.969          1.5            -0.615         90             270            0
  77  Microwave       -1.037         0.900          -1.723         0              0              0
  78  SinkBasin       0.377          0.765          -1.655         0              270            0
  79  CoffeeMachine   0.618          0.900          0.600          0              180            0
  80  StoveKnob       1.246          0.913          0.118          45             180            0
  81  StoveKnob       1.373          0.913          0.118          45             180            0
  82  StoveKnob       0.995          0.913          0.118          45             180            0
  83  StoveKnob       1.126          0.913          0.118          45             180            0
  84  GarbageCan      -0.368         -0.029         0.539          0              90             0
  85  Fridge          -2.134         0.0            -1.690         0              0              0
  86  Faucet          0.549          1.046          -1.833         0              232.527        0
  87  Stool           -1.475         0.000          0.414          1.233          280.375        0
  88  DiningTable     -2.255         -0.004         0.432          0              0              0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: turn around towards the drawer | STEP 2: pick up the mug | STEP 3: turn around towards the fridge | STEP 4: place the mug to cool and take it out | STEP 5: turn around towards the coffee maker | STEP 6: place the mug under the coffee maker | END