Task: make mug cold before making coffee

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          2.0            0              90             0
   1  Potato          0.220          0.950          1.269          0              90             0              43
   2  Ladle           1.805          2.181          0.842          0              0              0              51
   3  ButterKnife     1.757          0.910          1.092          0              90             0              43
   4  ButterKnife     0.455          0.911          -1.352         0              90             0              47
   5  DishSponge      1.844          2.135          1.236          0              0              0              50
   6  Fork            0.732          0.911          0.827          0              180            0              43
   7  Egg             -0.838         1.718          -1.489         0              0              0              70
   8  Cup             1.770          1.631          -0.901         0              0              0              55
   9  Cup             -0.790         1.089          -1.594         0              0              0              70
  10  Plate           -0.790         0.462          -1.605         0              0              0              70
  11  Knife           1.796          0.943          -1.717         0              90             0              47
  12  SoapBottle      1.770          1.631          -1.119         0              0              0              55
  13  Tomato          -0.741         0.814          -1.594         0              0              0              70
  14  Tomato          -0.644         1.452          -1.629         0              0              0              70
  15  Bowl            1.865          0.910          -1.374         0              90             0              47
  16  SaltShaker      0.476          0.905          1.180          0              90             0              43
  17  PepperShaker    1.875          1.640          -1.847         0              0              0              57
  18  Mug             0.502          0.940          -1.460         0              0              0              69
  19  Apple           1.830          0.127          1.636          0              270            0              61
  20  Apple           1.170          0.817          -1.654         0              0              0              62
  21  Plate           1.802          1.647          -0.000         0              0              0              53
  22  SoapBottle      1.844          1.637          0.599          0              0              0              52
  23  Cup             0.476          0.908          0.827          0              90             0              43
  24  Egg             1.308          0.795          -1.544         0              0              0              62
  25  Fork            0.989          0.911          0.915          0              90             0              43
  26  Ladle           1.805          1.698          -0.401         0              0              0              54
  27  Apple           1.032          0.817          -1.654         0              0              0              62
  28  SaltShaker      1.757          0.905          0.915          0              90             0              43
  29  Pan             1.543          0.909          -0.320         0              90             0              46
  30  Tomato          0.989          0.974          0.739          0              90             0              43
  31  Spatula         1.529          0.925          0.570          0              180            0              43
  32  Potato          1.739          0.110          1.779          0              270            0              61
  33  Knife           0.220          0.943          0.827          0              90             0              43
  34  ButterKnife     0.296          0.9            -1.296         0              14.568         0              47
  35  Bread           1.615          0.977          0.761          0              50.525         0              43
  36  Lettuce         0.856          0.989          1.120          0              270            1.529          43
  37  PepperShaker    1.451          0.905          0.467          0              90             0              43
  38  Pot             1.807          0.909          0.075          0              180            0              44
  39  DishSponge      1.808          1.638          0.487          0              0              0              52
  40  Spoon           1.501          0.911          1.092          0              90             0              43
  41  Bowl            1.762          0.909          0.415          0              90             0              43
  42  Mug             1.501          0.905          0.915          0              90             0              43
  43  CounterTop      0.989          0.946          1.016          0              90             0
  44  StoveBurner     1.807          0.907          0.075          0              180            0
  45  StoveBurner     1.807          0.907          -0.320         0              180            0
  46  StoveBurner     1.543          0.907          -0.320         0              90             0
  47  CounterTop      0.989          0.946          -1.516         0              90             0
  48  Sink            1.100          0.906          -1.599         0              0              0
  49  StoveBurner     1.548          0.907          0.075          0              180            0
  50  Cabinet         1.658          2.299          1.313          0              0              0
  51  Cabinet         1.658          2.299          0.686          0              0              0
  52  Cabinet         1.658          2.049          0.673          0              0              0
  53  Cabinet         1.658          2.059          0.193          0              0              0
  54  Cabinet         1.658          2.059          -0.593         0              0              0
  55  Cabinet         1.658          2.049          -0.606         0              0              0
  56  Cabinet         1.658          2.049          -1.206         0              0              0
  57  Cabinet         1.658          2.049          -1.893         0              0              0
  58  Toaster         0.131          0.900          -1.589         0              0              0
  59  Window          -0.372         1.588          3.349          90             0              0
  60  Window          0.782          1.741          -1.893         90             0              0
  61  GarbageCan      1.770          -0.029         1.685          0              270            0
  62  SinkBasin       1.091          0.740          -1.599         0              0              0
  63  StoveKnob       1.364          0.821          0.086          48.421         270            0
  64  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  65  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  66  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  67  Microwave       1.752          0.900          -0.843         0              270            0
  68  LightSwitch     2.0            1.261          3.094          0              270            0
  69  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  70  Fridge          -0.533         0.0            -1.554         0              0              0
  71  Chair           1.068          0.000          1.752          0              191.622        0
  72  Faucet          1.110          1.138          -1.764         0              270            0
  73  Chair           0.357          0.000          1.710          0              178.899        0
  74  NorthWall
  75  EastWall
  76  SouthWall
  77  WestWall

Plan:
STEP 1: turn to the right and make a left into kitchen | STEP 2: go forward to coffee machine and pick mug | STEP 3: turn to right and go to refrigerator  | STEP 4: open refrigerator, place mug inside, then close it. open refrigerator, take out mug. | STEP 5: go to the left, then place mug in coffee machine.  | STEP 6: leave mug in coffee machine | END