Task: Taking a mug to the fridge and back to 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           -1.5           0.900          1.5            0              180            0
   1  Potato          0.048          0.947          0.423          0              0              0              39
   2  DishSponge      -2.572         1.933          -1.150         0              0              0              60
   3  DishSponge      1.599          0.910          -0.684         0              0              0              49
   4  Kettle          1.691          0.929          -0.335         0              0              0              47
   5  Spoon           1.326          0.923          -1.266         0              45             0              53
   6  Spatula         -2.348         0.789          0.952          0              270            0              44
   7  Egg             -2.506         1.028          2.532          0              90             0              79
   8  PepperShaker    -0.730         0.905          0.423          0              0              0              39
   9  PepperShaker    1.598          0.906          0.406          0              0              0              48
  10  SaltShaker      -2.206         0.905          0.931          0              0              0              67
  11  SaltShaker      -2.206         0.905          0.631          0              0              0              67
  12  Lettuce         -0.341         0.994          0.870          0              0              0              39
  13  Lettuce         -2.372         0.994          0.931          0              0              0              67
  14  Bread           -0.341         0.996          1.094          0              0              0              39
  15  Apple           -2.532         1.150          -0.696         0              90             0              71
  16  Pan             -2.455         0.910          1.230          0              90             0              67
  17  Knife           -2.257         0.798          0.391          0              90             0              56
  18  Apple           1.687          0.246          0.651          0              0              0              78
  19  Bowl            1.771          1.653          0.092          0              0              0              58
  20  Fork            1.434          0.919          -1.158         0              45             0              53
  21  Bread           -2.621         0.996          1.530          0              0              0              67
  22  Plate           -0.601         0.913          0.647          0              0              0              39
  23  Egg             1.771          0.215          0.734          0              0              0              78
  24  Kettle          1.691          0.929          0.064          0              0              0              50
  25  Potato          1.428          0.947          -0.768         0              0              0              49
  26  SaltShaker      -2.621         0.905          0.331          0              0              0              67
  27  Lettuce         -2.289         0.994          1.530          0              0              0              67
  28  Cup             -2.570         1.013          2.278          0              90             0              79
  29  SoapBottle      0.048          0.912          1.540          0              0              0              39
  30  Spatula         -2.538         0.925          0.631          0              0              0              67
  31  PaperTowelRoll  0.719          1.015          -1.524         0              45             0              49
  32  ButterKnife     1.769          0.911          0.435          0              180            0              48
  33  PepperShaker    1.426          0.906          0.435          0              0              0              48
  34  DishSponge      -2.257         0.773          1.000          0              0              0              44
  35  Pot             1.412          0.929          -0.335         0              0              0              40
  36  Spoon           1.684          0.912          -0.810         0              0              0              49
  37  Tomato          1.380          0.964          -1.212         0              225            0              53
  38  Mug             0.464          0.955          -1.593         0              0              0              49
  39  CounterTop      -0.360         0.946          1.093          0              0              0
  40  StoveBurner     1.412          0.923          -0.335         0              0              0
  41  StoveKnob       1.878          1.093          0.018          287.989        90             0
  42  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  43  Cabinet         -2.446         1.948          2.924          0              0              0
  44  Drawer          -2.276         0.792          0.902          0              0              0
  45  Cabinet         -2.145         0.402          1.578          0              0              0
  46  Cabinet         0.149          2.008          -1.603         0              90             0
  47  StoveBurner     1.691          0.923          -0.335         0              0              0
  48  CounterTop      1.585          0.946          0.405          0              0              0
  49  CounterTop      0.474          0.946          -1.625         0              0              0
  50  StoveBurner     1.691          0.923          0.064          0              0              0
  51  Cabinet         -2.446         1.948          1.687          0              0              0
  52  Cabinet         -2.446         1.948          1.640          0              0              0
  53  Sink            1.381          0.810          -1.271         0              225            0
  54  StoveKnob       1.878          1.093          0.150          287.989        90             0
  55  Cabinet         -2.145         0.402          -0.236         0              0              0
  56  Drawer          -2.276         0.792          0.437          0              0              0
  57  Drawer          -2.276         0.792          -0.027         0              0              0
  58  Cabinet         1.572          2.008          0.474          0              0              0
  59  Cabinet         1.572          2.008          -0.775         0              0              0
  60  Cabinet         -2.445         2.148          -1.275         0              0              0
  61  Cabinet         -2.446         2.148          -0.284         0              0              0
  62  Cabinet         -2.446         1.948          0.355          0              0              0
  63  Cabinet         -2.446         1.948          0.405          0              0              0
  64  Cabinet         -2.145         0.402          0.644          0              0              0
  65  Cabinet         -2.145         0.402          0.695          0              0              0
  66  Cabinet         -2.285         1.968          -1.325         0              180            0
  67  CounterTop      -1.485         0.946          1.319          0              0              0
  68  StoveBurner     1.411          0.923          0.064          0              0              0
  69  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  70  Drawer          -2.276         0.792          1.368          0              0              0
  71  Fridge          -2.475         0.0            -0.782         0              90             0
  72  LightSwitch     -0.929         1.350          -1.950         0              0              0
  73  Toaster         -2.564         0.900          1.876          0              90             0
  74  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  75  Window          1.508          1.534          -1.496         90             135            0
  76  Window          1.973          1.521          1.121          90             90             0
  77  SinkBasin       1.149          0.753          -1.380         0              225            0
  78  GarbageCan      1.646          -0.000         0.679          0              0              0
  79  Microwave       -2.580         0.900          2.440          0              90             0
  80  Stool           0.439          0.010          0.747          0              0              0
  81  Stool           -2.303         0.010          1.839          0              0              0
  82  Faucet          1.235          1.138          -1.473         0              225            0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn to the left, and then look right at the dishwasher. | STEP 2: Pick up the coffee mug from under the coffee maker. | STEP 3: Take the mug to the right, and then left to the fridge. | STEP 4: Open the fridge and place the mug inside, then shut the door. Open the door again, take the mug out and shut the door. | STEP 5: Take the mug, turn around and go back to the coffee maker. | STEP 6: Place the mug under the coffee maker. | END