Task: put a chilled black mug in 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           -1.25          0.900          -0.75          0              270            0
   1  Kettle          1.289          0.913          -1.489         0              0              0              56
   2  Potato          -1.928         0.982          0.255          0              90             0              89
   3  Potato          -0.394         0.100          0.612          0              90             0              85
   4  ButterKnife     1.781          0.912          -1.406         0              0              0              56
   5  ButterKnife     1.724          0.912          0.540          0              180            0              71
   6  Pot             1.007          0.962          0.561          0              270            0              58
   7  Fork            0.071          0.774          0.306          0              0              0              62
   8  Fork            1.785          0.912          0.375          0              90             0              71
   9  Spoon           -0.540         0.773          -1.505         0              0              0              60
  10  Spoon           -0.150         0.775          -1.538         0              90             0              59
  11  Spatula         1.846          0.927          0.706          0              270            0              71
  12  Egg             1.724          0.947          0.375          0              0              0              71
  13  Egg             -0.361         0.105          0.482          0              90             0              85
  14  Cup             -2.614         0.950          0.435          0              90             0              89
  15  Cup             0.697          0.910          0.292          0              0              0              55
  16  Plate           1.754          1.329          -1.809         0              180            0              72
  17  Plate           1.781          0.913          -1.737         0              0              0              56
  18  Knife           1.846          0.937          0.209          0              0              0              71
  19  Tomato          -2.065         1.001          0.435          0              90             0              89
  20  SaltShaker      -1.928         0.948          0.524          0              90             0              89
  21  SaltShaker      1.754          0.104          0.385          0              0              0              64
  22  Bread           -0.451         0.995          -1.654         0              0              0              56
  23  Mug             -2.203         0.947          0.704          0              90             0              89
  24  Mug             0.035          0.907          0.292          0              0              0              55
  25  Apple           -2.047         0.847          -1.720         0              0              0              86
  26  Apple           0.804          0.986          -1.715         0              270            0              54
  27  Bread           -0.096         0.995          0.458          0              0              0              55
  28  Knife           -2.340         0.977          0.435          0              270            0              89
  29  Fork            0.564          0.912          0.209          0              0              0              55
  30  Bowl            -2.477         0.951          0.614          0              90             0              89
  31  Kettle          -0.055         0.9            0.643          0              0              0              55
  32  Cup             -2.31          1.491          -1.806         0              0              0              86
  33  Tomato          -1.791         1.001          0.345          0              90             0              89
  34  SoapBottle      0.071          0.105          0.242          0              0              0              66
  35  Plate           -0.586         0.111          -1.508         0              0              0              70
  36  Pot             1.361          0.962          0.561          0              270            0              61
  37  Spatula         -0.443         0.921          -1.468         0              338.343        0              56
  38  PaperTowelRoll  -2.614         1.056          0.165          0              0              0              89
  39  Egg             0.167          0.947          0.375          0              0              0              55
  40  Lettuce         0.851          1.001          -1.537         0              231.490        0              54
  41  SaltShaker      -0.045         0.107          -1.434         0              0              0              65
  42  PepperShaker    -0.644         1.325          -1.883         0              180            0              50
  43  Apple           -2.203         1.019          0.255          0              90             0              89
  44  ButterKnife     -2.614         0.952          0.524          0              270            0              89
  45  Potato          -0.361         0.100          0.396          0              90             0              85
  46  Pan             1.022          0.959          0.288          0              219.190        0              68
  47  DishSponge      -1.791         0.951          0.524          0              90             0              89
  48  Spoon           -2.065         0.953          0.614          0              90             0              89
  49  Mug             -0.923         1.010          -1.737         0              0              0              78
  50  Cabinet         -0.193         1.688          -1.648         0              180            0
  51  StoveBurner     1.360          0.957          0.293          0              180            0
  52  Drawer          0.499          0.792          0.296          0              0              0
  53  Cabinet         0.095          0.400          -1.352         0              180            0
  54  Sink            0.711          0.817          -1.772         0              270            0
  55  CounterTop      0.280          0.947          0.458          0              0              0
  56  CounterTop      -0.680         0.947          -1.654         0              0              0
  57  Drawer          1.825          0.792          0.296          0              0              0
  58  StoveBurner     1.007          0.957          0.561          0              270            0
  59  Drawer          -0.150         0.792          -1.496         0              0              0
  60  Drawer          -0.586         0.792          -1.496         0              0              0
  61  StoveBurner     1.360          0.957          0.561          0              270            0
  62  Drawer          0.024          0.792          0.296          0              0              0
  63  Cabinet         1.079          0.400          -1.349         0              180            0
  64  Cabinet         1.669          0.402          0.151          0              0              0
  65  Cabinet         0.055          0.402          -1.351         0              0              0
  66  Cabinet         -0.180         0.402          0.151          0              0              0
  67  Cabinet         0.729          0.402          0.151          0              0              0
  68  StoveBurner     1.007          0.957          0.293          0              180            0
  69  Drawer          -1.100         0.792          -1.496         0              0              0
  70  Cabinet         -0.396         0.402          -1.351         0              0              0
  71  CounterTop      1.776          0.947          0.458          0              0              0
  72  Cabinet         1.974          1.688          -1.648         0              180            0
  73  Cabinet         -0.820         0.400          -1.349         0              180            0
  74  Toaster         0.305          0.900          0.552          0              180            0
  75  LightSwitch     -2.756         1.307          -0.987         0              90             0
  76  Window          0.582          1.613          -1.967         90             0              0
  77  Window          1.969          1.5            -0.615         90             270            0
  78  Microwave       -1.037         0.900          -1.723         0              0              0
  79  SinkBasin       0.377          0.765          -1.655         0              270            0
  80  CoffeeMachine   0.618          0.900          0.600          0              180            0
  81  StoveKnob       1.246          0.913          0.118          45             180            0
  82  StoveKnob       1.373          0.913          0.118          45             180            0
  83  StoveKnob       0.995          0.913          0.118          45             180            0
  84  StoveKnob       1.126          0.913          0.118          45             180            0
  85  GarbageCan      -0.368         -0.029         0.539          0              90             0
  86  Fridge          -2.134         0.0            -1.690         0              0              0
  87  Faucet          0.549          1.046          -1.833         0              232.527        0
  88  Stool           -1.475         0.000          0.414          1.233          280.375        0
  89  DiningTable     -2.255         -0.004         0.432          0              0              0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: turn to face microwave oven on counter top | STEP 2: open microwave oven door, pick up black mug from inside microwave, close the door | STEP 3: walk to the right to face the fridge | STEP 4: open the fridge door, place mug on shelf next to apple, close door, wait, open door, pick up mug, close door | STEP 5: turn around, walk through kitchen to coffee maker on the left, turn to face coffee maker | STEP 6: place mug inside coffee maker on counter top | END