Task: Take the mug from the coffee machine to put in the fridge to place it back again.

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          1.25           0              270            0
   1  Potato          2.009          1.550          5.751          0              270            0              80
   2  DishSponge      1.497          0.890          2.627          0              90             0              81
   3  DishSponge      1.349          0.770          4.717          0              0              0              48
   4  Pot             1.562          0.988          3.848          0              0              0              52
   5  Spoon           -0.481         0.772          0.451          0              0              0              54
   6  Fork            -0.575         0.760          6.719          0              135            0              94
   7  Fork            -0.421         0.760          6.305          0              225            0              94
   8  Egg             -0.005         0.810          6.544          0              225            0              94
   9  Cup             2.009          1.511          5.626          0              270            0              80
  10  Plate           1.228          0.142          4.724          0              0              0              60
  11  Knife           -0.079         0.801          0.563          0              270            0              55
  12  Knife           -0.611         1.022          0.486          0              0              0              58
  13  Tomato          1.276          0.940          1.983          0              90             0              81
  14  SoapBottle      1.403          0.992          3.324          0              0              0              58
  15  Bowl            0.745          0.142          0.260          0              0              0              64
  16  Bowl            1.406          0.139          2.012          0              0              0              47
  17  PepperShaker    0.028          0.755          6.169          0              0              0              94
  18  Mug             -0.308         0.987          0.486          0              0              0              58
  19  Mug             1.657          0.136          4.686          0              0              0              60
  20  Mug             1.384          1.043          0.847          0              270            0              58
  21  Apple           1.966          1.590          5.501          0              270            0              80
  22  Apple           -0.459         1.067          0.486          0              0              0              58
  23  Bowl            -0.134         1.578          0.251          0              0              0              71
  24  Bread           0.150          0.829          6.354          0              270            0              94
  25  Egg             2.051          1.565          6.001          0              270            0              80
  26  Knife           1.225          1.022          3.511          0              180            0              58
  27  Fork            0.124          0.772          0.618          0              270            0              55
  28  Apple           0.273          1.171          0.278          0              0              0              74
  29  Kettle          -0.159         0.761          6.169          0              0              0              94
  30  Plate           -0.552         0.144          0.353          0              0              0              66
  31  SaltShaker      -0.003         0.755          6.666          0              270            0              94
  32  Lettuce         -0.159         0.848          6.941          0              0              0              94
  33  SoapBottle      0.167          1.579          0.338          0              270            0              71
  34  Spatula         1.404          0.786          3.223          0              0              0              51
  35  PaperTowelRoll  0.305          0.864          6.604          0              270            0              94
  36  Pot             1.317          0.988          4.294          0              0              0              53
  37  Potato          -0.291         0.794          6.612          0              225            0              94
  38  ButterKnife     0.803          0.772          0.451          0              0              0              50
  39  PepperShaker    -0.620         0.755          6.674          0              135            0              94
  40  Pan             1.313          0.985          4.284          0              0              0              53
  41  Tomato          0.104          0.809          6.653          0              225            0              94
  42  DishSponge      -0.611         0.992          0.212          0              0              0              58
  43  Cup             1.442          0.886          2.137          0              90             0              81
  44  Spoon           0.600          0.773          0.563          0              0              0              50
  45  Mug             -0.034         0.755          6.014          0              90             0              94
  46  Cabinet         1.307          2.455          4.360          0              0              0
  47  Cabinet         1.054          0.422          1.710          0              0              0
  48  Drawer          1.280          0.808          4.718          0              0              0
  49  Cabinet         1.307          2.455          3.607          0              0              0
  50  Drawer          0.736          0.802          0.521          0              0              0
  51  Drawer          1.276          0.802          3.291          0              0              0
  52  StoveBurner     1.562          0.982          3.848          0              0              0
  53  StoveBurner     1.317          0.982          4.294          0              0              0
  54  Drawer          -0.482         0.802          0.521          0              0              0
  55  Drawer          0.124          0.802          0.521          0              0              0
  56  StoveBurner     1.559          0.982          4.294          0              0              0
  57  StoveBurner     1.320          0.982          3.848          0              0              0
  58  CounterTop      1.391          1.028          0.897          0              0              0
  59  CounterTop      1.391          1.028          4.716          0              0              0
  60  Cabinet         1.054          0.422          4.548          0              0              0
  61  Cabinet         1.317          2.134          0.517          0              0              0
  62  Cabinet         1.317          2.134          4.889          0              0              0
  63  Cabinet         1.317          2.134          3.095          0              0              0
  64  Cabinet         0.443          0.422          0.743          0              0              0
  65  Cabinet         1.270          2.134          0.434          0              0              0
  66  Cabinet         -0.775         0.422          0.743          0              0              0
  67  Cabinet         -0.168         0.422          0.743          0              0              0
  68  Cabinet         1.317          2.134          1.534          0              0              0
  69  Cabinet         1.054          0.422          2.990          0              0              0
  70  Cabinet         1.054          0.422          2.944          0              0              0
  71  Cabinet         -0.263         2.134          0.434          0              0              0
  72  Cabinet         0.252          2.134          0.434          0              0              0
  73  Sink            1.391          1.006          2.326          0              0              0
  74  Microwave       0.108          0.981          0.262          0              0              0
  75  HousePlant      -0.165         0.826          6.444          0              0              0
  76  CoffeeMachine   1.551          0.982          0.953          0              270            0
  77  Toaster         1.473          0.981          4.715          0              270            0
  78  Window          -2.065         1.916          3.626          90             90             0
  79  Window          1.763          2.007          2.299          90             270            0
  80  Fridge          2.035          0.0            5.625          0              0              0
  81  SinkBasin       1.387          0.880          2.338          0              90             0
  82  GarbageCan      2.001          -0.044         6.503          0              0              0
  83  StoveKnob       1.140          0.934          3.987          45             270            0
  84  StoveKnob       1.140          0.934          4.309          45             270            0
  85  StoveKnob       1.140          0.934          4.140          45             270            0
  86  StoveKnob       1.140          0.934          3.824          45             270            0
  87  Vase            -0.226         0.834          6.993          0              0              0
  88  Vase            2.098          0.043          7.070          0              257.232        0
  89  Vase            -0.594         0.835          6.130          0              225            0
  90  LightSwitch     -2.0           1.549          6.045          0              90             0
  91  Safe            2.046          1.072          7.054          0              257.232        0
  92  Faucet          1.534          1.025          2.371          0              294.391        0
  93  Blinds          1.738          2.563          2.312          0              90             0
  94  DiningTable     -0.156         0.000          6.474          0              0              0
  95  Chair           0.291          0.002          6.142          0              310.162        0
  96  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: Turn left and walk towards the counter. Turn left and go towards the coffee machine. | STEP 2: Walk up to the coffee machine and take the mug from it. | STEP 3: Go left and walk down towards the table making a right to face the fridge. | STEP 4: Open the fridge and place the mug on the top shelf next to the apple and shut the door. After a few seconds open the door and take the mug out. | STEP 5: Back up and turn around going back to the coffee machine. Turn left to face it. | STEP 6: Place the mug back in the coffee machine. | END