Task: Put 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           -2.5           0.900          0.75           0              270            0
   1  Statue          -1.104         0.936          -0.643         0              0              0              61
   2  Vase            1.148          1.667          -0.593         0              270            0              70
   3  Potato          -0.808         0.807          -0.486         0              90             0              82
   4  Potato          1.199          0.941          0.313          0              0              0              62
   5  CreditCard      0.944          0.908          -0.208         0              0              0              62
   6  CreditCard      1.199          0.908          0.139          0              0              0              62
   7  CellPhone       -1.985         0.550          2.615          0              0              0              87
   8  CellPhone       0.794          0.491          -0.607         0              270            0              65
   9  DishSponge      0.688          0.910          -0.729         0              0              0              62
  10  DishSponge      -0.920         0.933          -0.067         0              0              0              61
  11  ButterKnife     -0.550         0.933          -0.143         0              0              0              61
  12  ButterKnife     1.029          0.911          -0.381         0              0              0              62
  13  Fork            0.875          0.703          -0.690         0              0              0              59
  14  Fork            0.773          0.911          0.313          0              0              0              62
  15  Spatula         -1.104         0.948          -1.430         0              90             0              61
  16  Pot             -0.698         0.936          -1.463         0              0              0              61
  17  Knife           -1.167         0.957          -0.118         0              0              0              61
  18  Egg             -0.960         0.214          0.576          0              180            0              81
  19  Egg             1.026          1.172          0.967          0              270            0              84
  20  Cup             -0.642         0.777          -0.832         0              90             0              82
  21  Plate           0.844          0.866          1.444          0              270            0              84
  22  Plate           0.905          1.405          1.349          0              270            0              84
  23  Tomato          0.944          0.952          -0.034         0              0              0              62
  24  SaltShaker      0.956          0.490          -0.731         0              270            0              65
  25  SaltShaker      1.148          1.662          -2.029         0              270            0              60
  26  Mug             1.055          1.661          -2.166         0              270            0              60
  27  Statue          -1.355         0.936          -0.643         0              0              0              61
  28  Glassbottle     -1.467         0.554          2.718          0              0              0              87
  29  Bread           1.026          1.216          1.158          0              270            0              84
  30  CreditCard      0.754          0.491          -0.731         0              270            0              65
  31  CellPhone       -1.355         0.930          0.144          0              0              0              61
  32  Potato          -0.865         0.207          0.510          0              180            0              81
  33  Knife           -0.698         0.957          -1.231         0              0              0              61
  34  Fork            0.875          0.703          -0.565         0              0              0              59
  35  Pan             0.848          0.946          -1.080         0              0              0              55
  36  Lettuce         0.859          0.988          -0.381         0              0              0              62
  37  Plate           -1.167         0.936          -0.905         0              0              0              61
  38  Apple           1.026          0.913          1.444          0              270            0              84
  39  Pot             1.077          0.950          -1.504         0              0              0              57
  40  Spatula         0.834          0.510          -0.731         0              90             0              65
  41  PaperTowelRoll  1.199          1.015          -1.793         0              0              0              67
  42  Tomato          1.087          1.683          0.967          0              270            0              84
  43  Egg             -0.753         0.818          -0.659         0              90             0              82
  44  SaltShaker      -1.881         0.550          2.874          0              0              0              87
  45  PepperShaker    -1.041         0.929          -1.167         0              0              0              61
  46  Vase            0.811          0.108          -2.212         0              0              0              66
  47  ButterKnife     -0.550         0.933          0.086          0              0              0              61
  48  SoapBottle      -1.981         0.882          2.746          0              0              0              88
  49  Vase            0.859          0.912          -0.729         0              0              0              62
  50  Bowl            1.193          1.669          0.153          0              270            0              69
  51  DishSponge      0.773          0.910          -0.555         0              0              0              62
  52  Spoon           0.874          0.154          -0.650         0              270            0              64
  53  Cup             -0.808         0.773          -0.832         0              90             0              82
  54  Mug             0.903          0.942          -2.110         0              300.131        0              80
  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 left and walk to the window, then hang a left and walk over to the counter. | STEP 2: Pick up the coffee mug out of the coffee machine. | STEP 3: Turn around and take a step forward, then turn right and walk across the room to the fridge. | STEP 4: Open the fridge and place the coffee mug inside, then close the door, after a couple seconds open the fridge back up and remove the now chilled coffee mug then close the door. | STEP 5: Turn around and take a step forward, then turn left and walk forward, turn left again to face the counter. | STEP 6: Open the leftmost lower cabinet door and put the chilled mug inside, then close the cabinet. | END