Task: Putting a mug in a 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           -0.25          0.900          2.5            0              270            0
   1  CellPhone       1.764          0.347          -0.088         0              0              0              58
   2  Ladle           1.661          0.391          0.667          0              0              0              56
   3  Kettle          -1.639         0.912          -0.914         0              0              0              62
   4  Kettle          1.765          0.938          0.819          0              180            0              59
   5  Fork            0.256          0.761          -1.380         0              270            0              86
   6  Spoon           1.662          0.226          1.219          0              0              0              71
   7  Spatula         0.083          0.775          -1.546         0              90             0              86
   8  Pot             1.195          0.113          -1.416         0              0              0              55
   9  Cup             1.892          1.004          -0.651         0              270            0              83
  10  Knife           -1.050         0.933          -1.221         0              0              0              62
  11  SoapBottle      -0.106         0.929          0.041          0              0              0              70
  12  SaltShaker      -0.418         0.111          -1.284         0              0              0              41
  13  PepperShaker    -1.841         1.658          -1.358         0              90             0              49
  14  Bread           0.000          1.006          1.202          0              0              0              70
  15  Lettuce         -1.668         0.988          -1.513         0              0              0              62
  16  Apple           1.956          1.059          -0.808         0              270            0              83
  17  SoapBottle      1.117          0.915          -1.318         0              0              0              62
  18  Cup             0.082          0.110          -1.282         0              0              0              51
  19  Pot             1.975          0.938          0.384          0              180            0              48
  20  Fork            0.214          0.926          0.506          0              0              0              70
  21  Ladle           -0.106         0.969          0.738          0              0              0              70
  22  Kettle          1.681          0.9            0.091          0              0              0              62
  23  Egg             -1.855         1.526          0.107          0              90             0              85
  24  Plate           1.962          1.658          -0.977         0              270            0              50
  25  Pan             -1.286         0.9            -1.348         0              79.769         0              62
  26  Lettuce         -0.213         1.002          0.970          0              0              0              70
  27  Spatula         1.559          0.364          0.116          0              270            0              58
  28  Apple           -1.634         0.616          -0.269         0              90             0              85
  29  Knife           -0.106         0.947          0.273          0              0              0              70
  30  SaltShaker      0.361          0.109          -1.471         0              0              0              51
  31  PepperShaker    -0.320         0.921          0.273          0              0              0              70
  32  CellPhone       1.813          0.909          1.333          0              0              0              62
  33  ButterKnife     -0.213         0.925          0.041          0              0              0              70
  34  Bread           0.321          1.006          0.738          0              0              0              70
  35  Tomato          -1.721         0.618          0.201          0              90             0              85
  36  Potato          -0.106         0.949          0.506          0              0              0              70
  37  DishSponge      0.107          0.925          0.041          0              0              0              70
  38  Spoon           1.658          0.122          0.527          0              270            0              54
  39  Mug             1.355          0.955          -1.362         0              0              0              84
  40  Bowl            0.889          0.909          -1.318         0              0              0              62
  41  Cabinet         -0.495         0.474          -1.149         0              0              0
  42  Window          -0.010         1.582          -1.821         0              0              0
  43  Drawer          0.805          0.475          -1.159         0              0              0
  44  StoveBurner     1.764          0.902          0.601          0              270            0
  45  Drawer          1.5            0.196          -0.019         0              0              0
  46  Drawer          1.5            0.629          -0.018         0              0              0
  47  Drawer          1.5            0.602          -0.019         0              270            0
  48  StoveBurner     1.975          0.902          0.384          0              270            0
  49  Cabinet         -1.703         2.022          -1.453         0              90             0
  50  Cabinet         1.789          2.019          -0.819         0              270            0
  51  Cabinet         0.494          0.474          -1.149         0              0              0
  52  Cabinet         0.409          0.475          0.444          0              0              0
  53  Drawer          -0.696         0.475          -1.159         0              0              0
  54  Drawer          1.5            0.140          0.599          0              270            0
  55  Cabinet         1.389          0.474          -1.149         0              0              0
  56  Drawer          1.5            0.305          0.600          0              0              0
  57  StoveBurner     1.975          0.902          0.601          0              270            0
  58  Drawer          1.5            0.429          -0.019         0              0              0
  59  StoveBurner     1.764          0.902          0.819          0              270            0
  60  Drawer          1.5            0.519          1.220          0              0              0
  61  Cabinet         1.705          2.019          -1.449         0              0              0
  62  CounterTop      0.002          0.947          -1.513         0              0              0
  63  Drawer          1.5            0.629          0.605          0              0              0
  64  Cabinet         -0.627         2.019          -1.449         0              0              0
  65  StoveBurner     1.764          0.902          0.384          0              270            0
  66  Drawer          1.5            0.538          0.600          0              0              0
  67  Sink            0.0            0.893          -1.434         0              0              0
  68  Drawer          1.5            0.782          1.220          0              270            0
  69  Window          2.217          1.565          -0.384         0              0              0
  70  CounterTop      -0.014         0.961          0.505          0              0              0
  71  Drawer          1.5            0.200          1.220          0              0              0
  72  StoveBurner     1.975          0.902          0.819          0              270            0
  73  Window          -3.240         1.616          2.693          0              270            0
  74  Cabinet         -1.389         0.474          -1.149         0              0              0
  75  LightSwitch     -0.153         1.291          3.700          0              180            0
  76  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  77  StoveKnob       1.602          0.917          0.570          0              270            180
  78  StoveKnob       1.602          0.917          0.625          0              270            180
  79  StoveKnob       1.602          0.917          0.739          0              270            180
  80  StoveKnob       1.602          0.917          0.680          0              270            180
  81  StoveKnob       1.602          0.917          0.462          0              270            180
  82  StoveKnob       1.602          0.917          0.517          0              270            180
  83  Microwave       1.932          0.899          -0.766         0              270            0
  84  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  85  Fridge          -1.764         0.0            0.014          0              90             0
  86  SinkBasin       -0.014         0.736          -1.435         0              0              0
  87  Toaster         1.977          0.900          -0.336         0              270            0
  88  Faucet          -0.020         1.137          -1.605         0              270            0
  89  Chair           -9.354         0.000          1.242          0              180            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Turn around and head to the coffee maker on the right | STEP 2: Grab the mug that is in the coffee maker | STEP 3: Turn right and head to the fridge | STEP 4: Open the fridge and place the mug on the top rack. Close the fridge. Open the fridge and grab the mug. Close the door. | STEP 5: Turn around and head to the coffee maker. | STEP 6: Place the mug in the coffee maker. | END