Task: Put the chilled mug 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           -0.75          0.900          2.5            0              270            0
   1  Pan             -2.59          0.9            -1.147         0              0              0              73
   2  Potato          -0.598         0.933          -1.119         0              47.530         0              73
   3  Kettle          -1.505         0.850          -1.194         0              0              0              83
   4  Spoon           -2.585         0.747          0.163          0              0              0              71
   5  Spoon           -2.671         0.747          -0.027         0              90             0              71
   6  Fork            -2.085         0.911          -1.365         0              0              0              73
   7  Fork            -0.133         0.911          -1.199         0              90             0              73
   8  Cup             -1.159         0.848          -1.360         0              0              0              83
   9  Plate           -2.800         0.821          0.932          0              90             0              85
  10  Plate           0.817          1.113          1.056          0              315            0              66
  11  Egg             -2.815         0.072          1.466          0              0              0              84
  12  Knife           -2.085         0.934          -0.948         0              0              0              73
  13  SoapBottle      -2.438         0.912          0.359          0              0              0              65
  14  Bowl            0.490          1.110          1.075          0              315            0              66
  15  Bowl            -2.740         1.672          0.771          0              90             0              85
  16  Lettuce         0.644          1.190          1.229          0              315            0              66
  17  PepperShaker    0.307          1.108          1.866          0              315            0              66
  18  SaltShaker      -2.015         1.658          -1.322         0              0              0              48
  19  SaltShaker      1.074          0.907          -1.282         0              0              0              73
  20  Bread           -2.740         1.528          0.771          0              90             0              85
  21  Apple           0.241          1.060          -1.281         0              0              0              86
  22  Apple           -2.757         0.087          1.536          0              0              0              84
  23  Apple           0.398          1.057          -1.314         0              0              0              86
  24  Fork            -2.438         0.911          0.190          0              270            0              71
  25  Kettle          -0.767         0.912          -1.032         0              0              0              73
  26  CreditCard      0.997          0.9            -0.982         0              334.941        0              73
  27  Bread           0.765          0.965          -1.282         0              0              0              73
  28  Plate           -1.684         0.119          -1.031         0              0              0              50
  29  SoapBottle      -2.699         0.038          1.431          0              0              0              84
  30  Spatula         -2.552         0.922          0.010          0              0              0              65
  31  Lettuce         0.509          1.190          0.748          0              315            0              66
  32  SaltShaker      -1.879         1.658          -1.435         0              0              0              48
  33  Tomato          0.203          1.152          1.056          0              0              0              66
  34  PepperShaker    -0.156         1.658          -1.284         0              0              0              60
  35  ButterKnife     -2.222         0.9            -0.997         0              323.977        0              73
  36  Pot             -2.823         0.928          -0.396         0              0              0              72
  37  DishSponge      -1.221         0.841          -1.126         0              41.164         0              83
  38  Egg             -1.332         0.884          -1.305         0              0              0              83
  39  Spoon           -0.450         0.912          -1.365         0              0              0              73
  40  Knife           -2.628         0.769          -0.027         0              90             0              71
  41  Cup             -0.021         1.110          1.910          0              315            0              66
  42  Mug             0.372          1.654          -1.353         0              0              0              52
  43  Bowl            -2.860         0.818          0.690          0              90             0              85
  44  Cabinet         -2.647         2.075          -0.875         0              0              0
  45  Cabinet         -2.647         2.075          -0.234         0              0              0
  46  Cabinet         -0.824         0.469          -0.907         0              0              0
  47  Cabinet         -1.764         2.009          -1.197         0              0              0
  48  Cabinet         -1.834         2.009          -1.197         0              0              0
  49  Cabinet         -1.850         0.389          -0.897         0              0              0
  50  Cabinet         -1.801         0.469          -0.907         0              0              0
  51  Cabinet         1.115          2.009          -1.197         0              0              0
  52  Cabinet         0.235          2.009          -1.197         0              0              0
  53  Cabinet         1.125          0.470          -0.897         0              0              0
  54  Cabinet         -2.387         0.389          0.375          0              0              0
  55  Cabinet         0.484          0.389          -0.897         0              0              0
  56  Cabinet         -2.625         2.009          -1.197         0              0              0
  57  Cabinet         -2.647         2.009          -0.945         0              0              0
  58  Cabinet         -2.647         2.200          1.664          0              0              0
  59  Cabinet         -2.647         2.009          0.364          0              0              0
  60  Cabinet         0.164          2.009          -1.197         0              0              0
  61  Cabinet         -0.765         2.009          -1.197         0              0              0
  62  Cabinet         -0.834         2.009          -1.197         0              0              0
  63  Cabinet         -2.647         2.200          0.434          0              0              0
  64  StoveBurner     -2.622         0.886          -0.711         0              0              0
  65  CounterTop      -2.699         0.946          0.106          0              0              0
  66  CounterTop      0.908          1.147          0.788          0              315            0
  67  StoveBurner     -2.622         0.886          -0.396         0              0              0
  68  Drawer          -2.026         0.779          -1.082         0              0              0
  69  Sink            -1.328         0.916          -1.225         0              0              0
  70  StoveBurner     -2.822         0.886          -0.711         0              0              0
  71  Drawer          -2.572         0.779          0.099          0              0              0
  72  StoveBurner     -2.822         0.886          -0.396         0              0              0
  73  CounterTop      0.071          0.946          -1.199         0              0              0
  74  Drawer          0.254          0.779          -1.082         0              0              0
  75  LightSwitch     -1.167         1.307          3.0            0              180            0
  76  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  77  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  78  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  79  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  80  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  81  Window          0.321          1.449          3.088          90             0              0
  82  Toaster         -2.823         0.899          0.246          0              90             0
  83  SinkBasin       -1.344         0.838          -1.25          0              0              0
  84  GarbageCan      -2.757         1.886          1.466          0              0              0
  85  Fridge          -2.855         0.0            0.851          0              0              0
  86  Microwave       0.283          0.900          -1.331         0              0              0
  87  Stool           1.541          0.010          1.328          0              45             0
  88  Stool           0.983          0.010          1.793          0              47.459         0
  89  Faucet          -1.392         1.136          -1.399         0              270            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Turn left walk forward then head to the left cabinet above the microwave | STEP 2: Open the cabinet and pick up the mug then close the cabinet | STEP 3: Turn right then walk forward head to the fridge | STEP 4: Open the fridge put in and out the mug then close the fridge | STEP 5: Turn left and head to the cabinet beside the fridge | STEP 6: Open the cabinet put in the mug then close the cabinet | END