Task: Chill a mug and place it 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           -0.5           0.900          1.25           0              270            0
   1  Pan             -2.080         0.540          1.003          0              180            0              98
   2  Pan             -1.143         0.911          -2.329         0              0              0              90
   3  Statue          -0.335         1.110          -0.253         0              0              0              65
   4  CreditCard      -1.651         0.475          -0.342         0              90             0              80
   5  Plate           -2.026         1.306          1.008          0              90             0              98
   6  Cup             1.582          0.550          -2.666         0              180            0              95
   7  Egg             -1.935         0.083          1.933          0              270            0              96
   8  Bread           0.217          1.184          -0.759         0              0              0              65
   9  Lettuce         -0.197         1.191          0.757          0              0              0              65
  10  Lettuce         -0.848         0.991          -2.406         0              0              0              90
  11  Apple           -0.277         1.841          -2.514         0              0              0              91
  12  Apple           0.079          1.162          -0.001         0              0              0              65
  13  Knife           0.582          0.936          -2.407         0              0              0              67
  14  Knife           -0.197         1.136          0.504          0              0              0              65
  15  Fork            -1.852         0.770          -1.328         0              90             0              100
  16  Fork            0.079          1.112          0.251          0              0              0              65
  17  Mug             -1.731         0.956          -0.168         0              90             0              99
  18  Mug             1.686          0.875          -2.563         0              180            0              92
  19  Spatula         -1.825         0.808          0.155          0              180            0              62
  20  Pot             0.969          0.914          -2.407         0              0              0              67
  21  ButterKnife     -1.852         0.769          -1.587         0              90             0              100
  22  ButterKnife     -1.740         0.154          -0.197         0              90             0              88
  23  Kettle          -0.465         0.950          -2.372         0              90             0              63
  24  Glassbottle     1.993          0.881          -2.590         0              180            0              92
  25  Glassbottle     -1.935         0.048          2.029          0              270            0              96
  26  WineBottle      -0.335         1.112          0.504          0              0              0              65
  27  WineBottle      -0.995         0.912          -2.637         0              0              0              90
  28  DishSponge      -1.797         0.769          -1.242         0              90             0              100
  29  Bowl            -0.122         1.787          -2.546         0              0              0              91
  30  Book            0.155          1.1            0.617          0              315            0              65
  31  Glassbottle     0.079          1.112          -0.253         0              0              0              65
  32  Knife           -0.059         1.136          -0.506         0              0              0              65
  33  Bread           -0.522         1.170          -0.028         0              0              0              65
  34  Fork            1.008          0.316          -2.431         0              90             0              69
  35  Potato          -0.335         1.142          0.251          0              0              0              65
  36  SoapBottle      -1.826         0.154          -0.342         0              90             0              88
  37  Kettle          0.506          0.141          -2.337         0              0              0              82
  38  Pan             0.721          0.9            -2.415         0              0              0              67
  39  Plate           -1.008         0.133          -2.402         0              0              0              83
  40  Tomato          0.355          1.150          -0.506         0              0              0              65
  41  Vase            2.042          0.540          -2.495         0              0              0              95
  42  Egg             -1.908         0.804          -1.673         0              90             0              100
  43  CreditCard      -1.438         0.908          -2.406         0              0              0              90
  44  Statue          1.955          0.168          -2.543         0              0              0              97
  45  WineBottle      2.096          0.881          -2.563         0              180            0              92
  46  Pot             -0.036         0.950          -2.576         0              270            0              68
  47  Spatula         -1.797         0.784          -1.760         0              0              0              100
  48  PaperTowelRoll  -0.473         1.215          0.251          0              0              0              65
  49  Cup             1.891          0.878          -2.590         0              180            0              92
  50  Vase            1.482          0.878          -2.536         0              180            0              92
  51  Bowl            -0.059         1.108          0.251          0              0              0              65
  52  SaltShaker      -1.200         0.133          -2.554         0              0              0              83
  53  PepperShaker    -1.438         0.907          -2.560         0              0              0              90
  54  Lettuce         -1.806         0.973          -0.942         0              256.771        0              90
  55  ButterKnife     0.893          0.481          -2.380         0              0              0              73
  56  Apple           -1.963         0.820          -1.328         0              90             0              100
  57  DishSponge      -1.907         0.047          2.124          0              270            0              96
  58  Spoon           0.355          1.112          -0.759         0              0              0              65
  59  Mug             -1.512         1.653          -2.641         0              0              0              81
  60  StoveBurner     -0.036         0.915          -2.372         0              0              0
  61  Drawer          0.949          0.832          -2.197         0              0              0
  62  Drawer          -1.560         0.839          0.204          0              90             0
  63  StoveBurner     -0.465         0.915          -2.371         0              180            0
  64  Drawer          -1.560         0.839          -0.197         0              90             0
  65  CounterTop      -0.079         1.147          -0.001         0              0              0
  66  Cabinet         -1.549         0.494          -1.964         0              90             0
  67  CounterTop      0.693          0.946          -2.483         0              0              0
  68  StoveBurner     -0.036         0.915          -2.576         0              0              0
  69  Drawer          0.949          0.393          -2.200         0              0              0
  70  Drawer          0.949          0.708          -2.200         0              0              0
  71  Cabinet         -1.549         0.494          0.379          0              90             0
  72  StoveKnob       -0.022         0.881          -2.187         45             0              0
  73  Drawer          0.949          0.560          -2.201         0              0              0
  74  StoveBurner     -0.465         0.915          -2.575         0              180            0
  75  Window          -2.230         1.429          -1.203         0              0              0
  76  StoveKnob       -0.483         0.881          -2.187         45             0              0
  77  Sink            -1.899         0.964          -1.5           0              90             0
  78  StoveKnob       -0.328         0.881          -2.187         45             0              0
  79  Cabinet         -0.727         2.015          -2.460         0              0              0
  80  Drawer          -1.560         0.655          -0.196         0              90             0
  81  Cabinet         -1.685         2.015          -2.461         0              0              0
  82  Cabinet         0.680          0.494          -2.200         0              0              0
  83  Cabinet         -1.179         0.494          -2.200         0              0              0
  84  Cabinet         -1.849         2.015          0.379          0              90             0
  85  Drawer          0.949          0.221          -2.200         0              0              0
  86  StoveKnob       -0.183         0.881          -2.187         45             0              0
  87  Cabinet         0.719          2.015          -2.460         0              0              0
  88  Drawer          -1.560         0.331          -0.196         0              90             0
  89  Cabinet         0.680          2.015          -2.460         0              0              0
  90  CounterTop      -1.868         0.946          -1.205         0              0              0
  91  Microwave       -0.236         1.689          -2.525         0              0              0
  92  Shelf           1.751          0.880          -2.560         0              0              0
  93  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  94  Toaster         -1.835         0.900          0.134          0              90             0
  95  Shelf           1.750          0.552          -2.559         0              0              0
  96  GarbageCan      -1.935         -0.002         2.029          0              270            0
  97  Shelf           1.750          0.172          -2.559         0              0              0
  98  Fridge          -2.096         0.0            1.088          0              0              0
  99  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
 100  SinkBasin       -1.908         0.759          -1.488         0              90             0
 101  LightSwitch     2.329          1.309          -0.159         0              270            0
 102  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 103  Stool           0.702          0.000          -0.514         1.202          65.108         0
 104  Stool           0.743          0.000          0.563          1.227          106.706        0
 105  Faucet          -2.070         1.132          -1.514         0              0              0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: Move to the left, and find the coffee maker on the right side. | STEP 2: Pick up the mug from the coffee maker.  | STEP 3: Carry the mug and move a few steps to the right to find the fridge. | STEP 4: Place the mug inside the fridge and shut the door. Open the door and take the mug out, then shut the door. | STEP 5: Carry the mug and take a few steps to the left. | STEP 6: Place the mug in the right cabinet under the counter and shut the door. | END