Task: Pick up and move coffee mug to 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           -2.0           0.900          1.0            0              270            0
   1  Potato          -2.581         0.862          0.625          0              0              0              44
   2  DishSponge      -2.840         0.823          0.352          0              0              0              44
   3  Spoon           -1.105         0.699          0.444          0              270            0              48
   4  Spoon           -0.363         0.698          0.912          0              90             0              46
   5  Spatula         -2.735         0.838          0.871          0              0              0              44
   6  Egg             -0.395         0.080          2.708          0              0              0              64
   7  Plate           -1.580         0.130          0.362          0              0              0              57
   8  Knife           -1.542         0.849          0.518          0              0              0              44
   9  SoapBottle      -0.395         0.054          2.539          0              0              0              64
  10  Bowl            -2.540         1.845          1.926          0              0              0              38
  11  Bowl            -2.609         0.118          1.550          0              0              0              55
  12  Lettuce         -2.781         0.908          2.133          0              90             0              62
  13  Bread           -2.782         1.491          2.221          0              90             0              62
  14  Apple           -2.782         0.897          2.397          0              270            0              62
  15  Apple           -0.400         0.896          1.326          0              0              0              44
  16  Apple           -0.295         0.129          2.640          0              0              0              64
  17  Fork            -2.563         0.692          1.474          0              90             0              49
  18  Ladle           -0.371         0.738          0.879          0              45             0              46
  19  Pan             -0.244         0.829          1.684          0              0              0              43
  20  SoapBottle      -1.943         0.123          0.440          0              0              0              56
  21  Pot             -0.518         0.829          2.075          0              180            0              41
  22  Tomato          -2.837         1.495          1.957          0              90             0              62
  23  Potato          -2.726         1.484          2.045          0              90             0              62
  24  SaltShaker      -2.658         0.818          0.953          0              0              0              44
  25  Plate           -2.586         0.813          0.309          0              0              0              44
  26  Spatula         -0.341         0.696          1.194          0              45             0              40
  27  Knife           -0.817         0.849          0.278          0              90             0              44
  28  Egg             -2.777         0.945          1.231          0              90             0              63
  29  Cup             -2.375         0.823          0.426          0              0              0              44
  30  ButterKnife     -2.493         0.812          0.476          0              50.734         0              44
  31  Lettuce         -1.836         0.741          0.238          0              55.910         0              71
  32  PepperShaker    -0.147         0.818          0.278          0              0              0              44
  33  DishSponge      -2.724         0.823          0.129          0              0              0              44
  34  Bread           -0.979         0.855          0.249          0              29.999         0              44
  35  Spoon           -0.169         0.824          1.214          0              90             0              44
  36  Mug             -0.646         0.888          0.367          0              0              0              72
  37  Bowl            -2.726         1.140          2.045          0              90             0              62
  38  Cabinet         -2.377         2.015          1.720          0              0              0
  39  StoveBurner     -0.244         0.820          2.075          0              180            0
  40  Drawer          -0.402         0.703          1.252          0              0              0
  41  StoveBurner     -0.518         0.820          2.075          0              180            0
  42  Sink            -1.838         0.726          0.343          0              180            0
  43  StoveBurner     -0.244         0.820          1.684          0              0              0
  44  CounterTop      -1.557         0.859          0.277          0              0              0
  45  StoveBurner     -0.518         0.820          1.684          0              0              0
  46  Drawer          -0.404         0.704          0.912          0              0              0
  47  Drawer          -0.861         0.709          0.420          0              0              0
  48  Drawer          -1.133         0.706          0.418          0              0              0
  49  Drawer          -2.589         0.703          1.511          0              0              0
  50  Cabinet         -2.772         1.803          0.508          0              0              0
  51  Cabinet         -2.460         1.803          0.231          0              0              0
  52  Cabinet         -2.781         1.798          0.825          0              0              0
  53  Cabinet         -2.781         1.798          0.815          0              0              0
  54  Cabinet         -2.377         2.009          2.581          0              0              0
  55  Cabinet         -2.442         0.385          1.672          0              0              0
  56  Cabinet         -2.238         0.385          0.564          0              0              0
  57  Cabinet         -1.286         0.385          0.564          0              0              0
  58  Cabinet         -1.262         0.385          0.565          0              0              0
  59  Cabinet         -0.734         0.385          0.565          0              0              0
  60  Cabinet         -0.549         0.385          0.751          0              0              0
  61  Cabinet         -0.549         0.385          1.412          0              0              0
  62  Fridge          -2.782         0.0            2.221          0              0              0
  63  Microwave       -2.794         0.812          1.348          0              90             0
  64  GarbageCan      -0.329         2.205          2.606          0              0              0
  65  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  66  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  67  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  68  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  69  Window          -1.720         1.342          -0.208         90             0              0
  70  Toaster         -0.171         0.812          0.735          0              270            0
  71  SinkBasin       -1.745         0.687          0.295          0              0              0
  72  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  73  LightSwitch     -0.615         1.378          3.0            0              180            0
  74  Faucet          -1.686         0.954          0.176          0              236.223        0
  75  Stool           -1.008         0.008          1.955          0              18.279         0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Turn around and walk towards counter | STEP 2: Turn right, pick up coffee mug on counter | STEP 3: Turn around, walk to wall, turn left facing refrigerator | STEP 4: Open refrigerator, place coffee mug inside on top shelf, close refrigerator, open refrigerator, pick up coffee mug, close refrigerator | STEP 5: Turn left, walk towards counter, turn left, walk towards oven, turn right walk toward counter with coffee maker | STEP 6: Place coffee mug on coffee maker. | END