Task: Put a chilled mug in the cabinet

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              0              0
   1  Potato          -0.598         0.933          -1.119         0              47.530         0              70
   2  CreditCard      -2.521         0.908          0.021          0              0              0              70
   3  CreditCard      0.013          1.108          1.706          0              315            0              63
   4  DishSponge      0.912          1.662          -1.397         0              0              0              70
   5  ButterKnife     -2.770         0.911          -0.062         0              0              0              62
   6  ButterKnife     -2.521         0.911          0.190          0              0              0              62
   7  Kettle          -2.025         0.116          -1.056         0              0              0              46
   8  Spoon           -1.933         0.912          -1.282         0              0              0              70
   9  Fork            0.202          0.746          -1.052         0              0              0              71
  10  Spatula         -0.344         0.926          -1.199         0              0              0              70
  11  Tomato          -2.843         0.960          -0.948         0              0              0              70
  12  Bowl            0.346          1.004          -1.347         0              0              0              83
  13  Bowl            -2.740         1.672          0.690          0              90             0              82
  14  PepperShaker    0.903          0.113          -1.052         0              0              0              50
  15  PepperShaker    -2.849         1.661          -1.087         0              0              0              54
  16  SaltShaker      -2.736         1.661          -1.116         0              0              0              54
  17  SaltShaker      0.798          1.108          1.383          0              315            0              63
  18  Bread           0.836          1.166          0.729          0              315            0              63
  19  Pan             -2.59          0.9            -1.147         0              0              0              70
  20  Apple           0.284          1.154          1.580          0              0              0              63
  21  Fork            -1.910         0.747          -1.094         0              90             0              65
  22  Kettle          -2.823         0.928          -0.396         0              0              0              69
  23  CreditCard      -1.987         0.743          -0.966         0              0              0              65
  24  Bread           -2.740         0.432          0.932          0              90             0              82
  25  Plate           -1.458         0.843          -1.235         0              0              0              80
  26  SoapBottle      -0.748         0.899          -1.291         0              315            0              70
  27  Spatula         0.842          0.926          -1.199         0              0              0              70
  28  Lettuce         -2.660         0.874          0.983          31.046         0              0              82
  29  SaltShaker      -2.923         2.039          1.148          0              0              0              55
  30  Tomato          0.997          0.960          -1.449         0              0              0              70
  31  PepperShaker    0.335          1.658          -1.246         0              0              0              49
  32  ButterKnife     -2.604         0.911          -0.147         0              0              0              62
  33  Pot             1.463          1.100          0.61           0              0              0              63
  34  DishSponge      -1.512         0.116          -1.031         0              0              0              47
  35  Egg             0.136          1.136          1.274          0              0              0              63
  36  Spoon           0.610          0.912          -1.365         0              90             0              70
  37  Knife           0.060          1.106          1.587          270            209.997        0              63
  38  Cup             -1.119         0.841          -1.241         0              0              0              80
  39  Mug             0.372          1.654          -1.353         0              0              0              49
  40  Bowl            -2.680         1.472          0.852          0              90             0              82
  41  Cabinet         -2.647         2.075          -0.875         0              0              0
  42  Cabinet         -2.647         2.075          -0.234         0              0              0
  43  Cabinet         -0.824         0.469          -0.907         0              0              0
  44  Cabinet         -1.764         2.009          -1.197         0              0              0
  45  Cabinet         -1.834         2.009          -1.197         0              0              0
  46  Cabinet         -1.850         0.389          -0.897         0              0              0
  47  Cabinet         -1.801         0.469          -0.907         0              0              0
  48  Cabinet         1.115          2.009          -1.197         0              0              0
  49  Cabinet         0.235          2.009          -1.197         0              0              0
  50  Cabinet         1.125          0.470          -0.897         0              0              0
  51  Cabinet         -2.387         0.389          0.375          0              0              0
  52  Cabinet         0.484          0.389          -0.897         0              0              0
  53  Cabinet         -2.625         2.009          -1.197         0              0              0
  54  Cabinet         -2.647         2.009          -0.945         0              0              0
  55  Cabinet         -2.647         2.200          1.664          0              0              0
  56  Cabinet         -2.647         2.009          0.364          0              0              0
  57  Cabinet         0.164          2.009          -1.197         0              0              0
  58  Cabinet         -0.765         2.009          -1.197         0              0              0
  59  Cabinet         -0.834         2.009          -1.197         0              0              0
  60  Cabinet         -2.647         2.200          0.434          0              0              0
  61  StoveBurner     -2.622         0.886          -0.711         0              0              0
  62  CounterTop      -2.699         0.946          0.106          0              0              0
  63  CounterTop      0.908          1.147          0.788          0              315            0
  64  StoveBurner     -2.622         0.886          -0.396         0              0              0
  65  Drawer          -2.026         0.779          -1.082         0              0              0
  66  Sink            -1.328         0.916          -1.225         0              0              0
  67  StoveBurner     -2.822         0.886          -0.711         0              0              0
  68  Drawer          -2.572         0.779          0.099          0              0              0
  69  StoveBurner     -2.822         0.886          -0.396         0              0              0
  70  CounterTop      0.071          0.946          -1.199         0              0              0
  71  Drawer          0.254          0.779          -1.082         0              0              0
  72  LightSwitch     -1.167         1.307          3.0            0              180            0
  73  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  74  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  75  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  76  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  77  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  78  Window          0.321          1.449          3.088          90             0              0
  79  Toaster         -2.823         0.899          0.246          0              90             0
  80  SinkBasin       -1.344         0.838          -1.25          0              0              0
  81  GarbageCan      -2.757         1.886          1.466          0              0              0
  82  Fridge          -2.855         0.0            0.851          0              0              0
  83  Microwave       0.283          0.900          -1.331         0              0              0
  84  Stool           1.541          0.010          1.328          0              45             0
  85  Stool           0.983          0.010          1.793          0              47.459         0
  86  Faucet          -1.392         1.136          -1.399         0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn right and cross the room head to the cabinet above the microwave | STEP 2: Open the cabinet and pick up the mug in the cabinet, then close it | STEP 3: Turn right walk straight head to the fridge | STEP 4: Open the fridge put in the mug then take it out and close the fridge | STEP 5: Turn left then walk straight towards the sink cabinet | STEP 6: Open the cabinet below the sink and put in the mug and close it | END