Task: Place a chilled mug in a cabinet.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          1.0            0              0              0
   1  Pan             1.126          2.205          -1.517         0              180            0              68
   2  Potato          -0.587         0.811          -0.486         0              180            0              82
   3  Potato          1.026          0.893          1.063          0              270            0              84
   4  CellPhone       1.199          0.908          -0.381         0              0              0              62
   5  Fork            0.773          0.911          -1.965         0              90             0              67
   6  Fork            0.794          0.495          -0.772         0              180            0              65
   7  Spoon           -0.697         0.777          -0.745         0              90             0              82
   8  Spoon           -0.753         0.777          -0.832         0              180            0              82
   9  Spatula         0.688          0.926          -2.136         0              270            0              67
  10  Spatula         -0.808         0.795          -0.573         0              180            0              82
  11  Knife           -1.104         0.957          -1.167         0              90             0              61
  12  Knife           -0.772         0.957          -1.308         0              0              0              61
  13  Cup             1.026          1.132          1.540          0              270            0              84
  14  Cup             1.060          1.780          -1.236         0              270            0              83
  15  Plate           0.966          1.405          1.063          0              270            0              84
  16  Tomato          1.026          1.442          1.254          0              270            0              84
  17  Tomato          0.688          0.952          0.139          0              0              0              62
  18  SoapBottle      1.193          1.666          0.280          0              270            0              69
  19  SoapBottle      0.688          0.911          -1.965         0              0              0              67
  20  Bowl            1.026          1.646          1.063          0              270            0              84
  21  SaltShaker      -1.881         0.550          2.667          0              0              0              87
  22  PepperShaker    0.859          0.907          -1.879         0              0              0              67
  23  PepperShaker    0.915          0.490          -0.607         0              270            0              65
  24  Lettuce         1.114          0.988          0.139          0              0              0              62
  25  Mug             1.102          1.661          -0.593         0              270            0              70
  26  Mug             0.903          0.942          -2.110         0              300.131        0              80
  27  Statue          -0.550         0.936          -1.540         0              0              0              61
  28  Glassbottle     -0.753         0.781          -0.918         0              90             0              82
  29  Bread           -0.779         0.996          0.209          0              258.641        0              61
  30  CreditCard      -1.570         0.551          2.563          0              0              0              87
  31  CellPhone       0.688          0.908          -0.729         0              0              0              62
  32  Potato          1.026          1.165          1.063          0              270            0              84
  33  Knife           0.944          0.934          -0.207         0              0              0              62
  34  Fork            0.794          0.494          -0.524         0              180            0              65
  35  Pan             0.848          0.946          -1.080         0              0              0              55
  36  Lettuce         -0.912         0.256          0.608          0              90             0              81
  37  Plate           1.101          1.669          0.025          0              270            0              69
  38  Apple           1.026          1.693          1.540          0              270            0              84
  39  Pot             1.077          0.950          -1.504         0              0              0              57
  40  Spatula         0.859          0.926          -0.034         0              0              0              62
  41  PaperTowelRoll  -0.865         0.283          0.510          0              270            0              81
  42  Tomato          0.966          0.903          1.254          0              270            0              84
  43  Egg             0.783          1.439          1.540          0              270            0              84
  44  SaltShaker      1.194          1.662          -2.029         0              270            0              60
  45  PepperShaker    0.910          0.104          -1.972         0              0              0              66
  46  Vase            -1.423         0.169          2.621          0              0              0              87
  47  ButterKnife     -1.167         0.933          -1.167         0              0              0              61
  48  SoapBottle      1.029          0.911          -1.793         0              0              0              67
  49  Vase            -1.985         0.555          2.822          0              0              0              87
  50  Bowl            -1.292         0.936          0.144          0              0              0              61
  51  DishSponge      0.760          0.120          0.374          0              270            0              56
  52  Spoon           1.114          0.912          -0.208         0              0              0              62
  53  Cup             -0.587         0.777          -0.832         0              90             0              82
  54  Mug             -0.846         0.928          -1.618         0              0              0              61
  55  StoveBurner     0.842          0.919          -1.098         0              0              0
  56  Cabinet         0.648          0.474          0.244          0              270            0
  57  StoveBurner     1.077          0.919          -1.504         0              0              0
  58  StoveBurner     0.842          0.919          -1.504         0              0              0
  59  Drawer          0.637          0.755          -0.649         0              270            0
  60  Cabinet         0.949          2.159          -2.375         0              270            0
  61  CounterTop      -1.238         0.968          -0.643         0              0              0
  62  CounterTop      0.931          0.946          -0.208         0              0              0
  63  StoveBurner     1.077          0.919          -1.098         0              0              0
  64  Drawer          0.637          0.268          -0.649         0              270            0
  65  Drawer          0.637          0.547          -0.649         0              270            0
  66  Cabinet         0.648          0.475          -1.714         0              0              0
  67  CounterTop      0.931          0.946          -2.051         0              0              0
  68  Cabinet         0.948          2.439          -1.780         0              270            0
  69  Cabinet         0.948          2.159          -0.140         0              270            0
  70  Cabinet         0.949          2.159          -0.758         0              270            0
  71  Sink            -0.699         0.927          -0.649         0              0              0
  72  LightSwitch     -2.371         1.218          3.049          0              180            0
  73  StoveKnob       0.673          0.899          -1.373         315            90             180
  74  StoveKnob       0.673          0.899          -1.519         315            90             180
  75  StoveKnob       0.673          0.899          -1.086         315            90             180
  76  StoveKnob       0.673          0.899          -1.237         315            90             180
  77  Toaster         0.984          0.900          0.329          0              270            0
  78  Window          0.014          0.998          -2.640         90             0              0
  79  Window          -2.996         0.998          -2.640         90             0              0
  80  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  81  GarbageCan      -0.946         -0.036         0.575          0              180            0
  82  SinkBasin       -0.698         0.765          -0.647         0              90             0
  83  Microwave       1.042          1.680          -1.295         0              270            0
  84  Fridge          0.966          0.0            1.253          0              0              0
  85  HousePlant      -1.354         0.919          -1.540         0              0              0
  86  Shelf           -1.635         0.172          2.715          0              180            0
  87  Shelf           -1.635         0.552          2.715          0              180            0
  88  Shelf           -1.635         0.880          2.715          0              180            0
  89  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  90  Chair           -1.832         0.002          -0.034         0              119.999        0
  91  Chair           -1.854         0.002          -0.956         0              67.887         0
  92  Faucet          -0.867         1.161          -0.651         0              0              0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Turn around and walk to the counter to the left of the stove. | STEP 2: Look up and take the mug out of the cabinet. | STEP 3: Turn left and walk to the fridge. | STEP 4: Place the mug in the fridge in front of the tomato. Close the door, wait a moment, and take it out again. | STEP 5: Take a step right. | STEP 6: Open the leftmost bottom cabinet and place the mug in it, behind the sponge. | END