Task: Put a cold coffee up in the bottom cabinet.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          1.25           0              270            0
   1  Vase            -0.772         0.934          -1.463         0              0              0              56
   2  CreditCard      0.834          0.491          -0.731         0              270            0              60
   3  CreditCard      -1.674         0.551          2.563          0              0              0              82
   4  CellPhone       -1.881         0.550          2.822          0              0              0              82
   5  DishSponge      -0.697         0.780          -0.832         0              90             0              77
   6  ButterKnife     -0.550         0.933          -0.143         0              0              0              56
   7  Glassbottle     -1.363         0.554          2.718          0              0              0              82
   8  Spoon           -1.355         0.934          -1.167         0              0              0              56
   9  Spoon           -0.846         0.934          -1.154         0              0              0              77
  10  Egg             0.844          1.680          1.349          0              270            0              79
  11  Cup             -0.624         0.930          -1.154         0              0              0              56
  12  Plate           -0.642         0.783          -0.659         0              90             0              77
  13  Tomato          0.688          0.952          -1.965         0              0              0              62
  14  Tomato          0.944          0.952          -1.793         0              0              0              62
  15  SoapBottle      0.859          0.911          -0.729         0              0              0              57
  16  SoapBottle      -0.550         0.933          0.162          0              0              0              56
  17  Lettuce         0.905          0.940          1.349          0              270            0              79
  18  Lettuce         0.773          0.988          0.139          0              0              0              57
  19  Bread           0.966          1.216          1.349          0              270            0              79
  20  Mug             1.101          1.661          0.280          0              270            0              64
  21  Mug             0.903          0.942          -2.110         0              300.131        0              75
  22  Statue          -0.772         0.936          0.239          0              0              0              56
  23  Glassbottle     0.964          0.121          0.349          0              270            0              51
  24  Bread           1.029          0.992          -0.208         0              0              0              57
  25  CreditCard      -1.571         0.878          2.746          0              0              0              83
  26  CellPhone       -0.920         0.930          -1.231         0              0              0              56
  27  Potato          -0.808         0.811          -0.659         0              90             0              77
  28  Knife           -1.229         0.957          0.144          0              0              0              56
  29  Fork            -1.290         0.921          -1.287         0              0              0              56
  30  Pan             0.848          0.946          -1.080         0              0              0              50
  31  Lettuce         0.688          0.988          -0.381         0              0              0              57
  32  Plate           1.148          1.669          -1.961         0              270            0              55
  33  Apple           1.093          1.833          -1.236         0              270            0              78
  34  Pot             1.077          0.950          -1.504         0              0              0              52
  35  Spatula         0.915          0.717          -0.731         0              0              0              54
  36  PaperTowelRoll  -0.818         0.281          0.608          0              270            0              76
  37  Tomato          -1.054         0.217          0.543          0              180            0              76
  38  Egg             -0.920         0.971          -1.308         0              0              0              56
  39  SaltShaker      0.793          0.150          -0.690         0              270            0              59
  40  PepperShaker    0.996          2.204          -1.191         0              270            0              63
  41  Vase            1.082          2.207          -1.517         0              270            0              63
  42  ButterKnife     -1.325         0.919          -0.884         0              10.678         0              56
  43  SoapBottle      1.169          2.208          -1.299         0              270            0              63
  44  Vase            1.148          1.667          -0.401         0              270            0              65
  45  Bowl            0.844          1.405          1.444          0              270            0              79
  46  DishSponge      0.754          0.494          -0.565         0              270            0              60
  47  Spoon           -0.772         0.934          -1.618         0              0              0              56
  48  Cup             -0.808         0.777          -0.573         0              90             0              77
  49  Mug             1.199          0.906          0.313          0              180            0              57
  50  StoveBurner     0.842          0.919          -1.098         0              0              0
  51  Cabinet         0.648          0.474          0.244          0              270            0
  52  StoveBurner     1.077          0.919          -1.504         0              0              0
  53  StoveBurner     0.842          0.919          -1.504         0              0              0
  54  Drawer          0.637          0.755          -0.649         0              270            0
  55  Cabinet         0.949          2.159          -2.375         0              270            0
  56  CounterTop      -1.238         0.968          -0.643         0              0              0
  57  CounterTop      0.931          0.946          -0.208         0              0              0
  58  StoveBurner     1.077          0.919          -1.098         0              0              0
  59  Drawer          0.637          0.268          -0.649         0              270            0
  60  Drawer          0.637          0.547          -0.649         0              270            0
  61  Cabinet         0.648          0.475          -1.714         0              0              0
  62  CounterTop      0.931          0.946          -2.051         0              0              0
  63  Cabinet         0.948          2.439          -1.780         0              270            0
  64  Cabinet         0.948          2.159          -0.140         0              270            0
  65  Cabinet         0.949          2.159          -0.758         0              270            0
  66  Sink            -0.699         0.927          -0.649         0              0              0
  67  LightSwitch     -2.371         1.218          3.049          0              180            0
  68  StoveKnob       0.673          0.899          -1.373         315            90             180
  69  StoveKnob       0.673          0.899          -1.519         315            90             180
  70  StoveKnob       0.673          0.899          -1.086         315            90             180
  71  StoveKnob       0.673          0.899          -1.237         315            90             180
  72  Toaster         0.984          0.900          0.329          0              270            0
  73  Window          0.014          0.998          -2.640         90             0              0
  74  Window          -2.996         0.998          -2.640         90             0              0
  75  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  76  GarbageCan      -0.946         -0.036         0.575          0              180            0
  77  SinkBasin       -0.698         0.765          -0.647         0              90             0
  78  Microwave       1.042          1.680          -1.295         0              270            0
  79  Fridge          0.966          0.0            1.253          0              0              0
  80  HousePlant      -1.354         0.919          -1.540         0              0              0
  81  Shelf           -1.635         0.172          2.715          0              180            0
  82  Shelf           -1.635         0.552          2.715          0              180            0
  83  Shelf           -1.635         0.880          2.715          0              180            0
  84  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  85  Chair           -1.832         0.002          -0.034         0              119.999        0
  86  Chair           -1.854         0.002          -0.956         0              67.887         0
  87  Faucet          -0.867         1.161          -0.651         0              0              0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Turn left for one step, turn left again and walk to the refrigerator, turn right for three steps and turn left to face the counter and look up at the cabinets. | STEP 2: Open both doors on the left cabinet, take the coffee mug out of the cabinet and then shut the doors. | STEP 3: Bring the coffee mug down then turn around for one step, turn right for four steps and turn right to face the refrigerator. | STEP 4: Open the refrigerator and put the coffee mug on the second shelf, near the front edge a few inches off center to the right. and shut the door, wait a few seconds then open the fridge, take the cup out and shut the door. | STEP 5: Turn around for one step, turn left for two steps then turn left and stop. | STEP 6: Open the bottom cabinet to the right of the refrigerator and then put the cup in toward the front and shut the cabinet door. | END