Task: put a mug full of water under the coffee machine

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          1.75           0              180            0
   1  ButterKnife     1.769          0.911          0.435          0              180            0              48
   2  Kettle          1.428          0.911          -0.684         0              0              0              49
   3  Fork            1.598          0.911          0.494          0              0              0              48
   4  Fork            -2.621         0.911          0.331          0              0              0              67
   5  Spoon           1.380          0.919          -1.212         0              45             0              53
   6  Spoon           -2.455         0.912          1.230          0              0              0              67
   7  Tomato          -2.206         0.953          0.631          0              0              0              67
   8  SoapBottle      -2.524         1.539          1.192          0              0              0              52
   9  PepperShaker    1.684          0.906          0.376          0              270            0              48
  10  PepperShaker    -2.206         0.905          1.230          0              0              0              67
  11  SaltShaker      -2.384         0.109          1.216          0              0              0              45
  12  Lettuce         -0.081         0.994          1.317          0              0              0              39
  13  Lettuce         -0.211         0.994          0.423          0              0              0              39
  14  Bread           -2.372         0.996          0.631          0              0              0              67
  15  Apple           -2.420         0.656          -0.962         0              90             0              71
  16  Pan             -2.289         0.910          1.530          0              0              0              67
  17  Knife           -2.257         0.798          1.322          0              90             0              70
  18  Apple           1.855          0.972          -0.810         0              0              0              49
  19  Bowl            -2.645         1.534          1.483          0              0              0              52
  20  Fork            -0.081         0.911          0.423          0              0              0              39
  21  Bread           -0.081         0.996          1.540          0              0              0              39
  22  Plate           -0.341         0.913          1.764          0              0              0              39
  23  Egg             1.520          0.215          0.596          0              0              0              78
  24  Kettle          1.691          0.929          0.064          0              0              0              50
  25  Potato          -2.613         0.214          -1.012         0              90             0              71
  26  SaltShaker      -2.599         1.533          0.774          0              0              0              63
  27  Lettuce         -2.289         0.994          0.931          0              0              0              67
  28  Cup             -2.420         0.592          -0.514         0              90             0              71
  29  SoapBottle      1.855          0.913          0.465          0              0              0              48
  30  Spatula         -2.348         0.788          0.391          0              90             0              56
  31  PaperTowelRoll  1.687          0.289          0.651          0              0              0              78
  32  ButterKnife     -0.471         0.910          1.094          0              0              0              39
  33  PepperShaker    1.770          0.905          -0.642         0              0              0              49
  34  DishSponge      1.341          0.910          0.376          0              0              0              48
  35  Pot             1.691          0.929          -0.335         0              0              0              47
  36  Spoon           -2.379         0.774          0.809          0              90             0              44
  37  Tomato          1.562          0.227          0.679          0              0              0              78
  38  Mug             0.464          0.955          -1.593         0              0              0              49
  39  CounterTop      -0.360         0.946          1.093          0              0              0
  40  StoveBurner     1.412          0.923          -0.335         0              0              0
  41  StoveKnob       1.878          1.093          0.018          287.989        90             0
  42  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  43  Cabinet         -2.446         1.948          2.924          0              0              0
  44  Drawer          -2.276         0.792          0.902          0              0              0
  45  Cabinet         -2.145         0.402          1.578          0              0              0
  46  Cabinet         0.149          2.008          -1.603         0              90             0
  47  StoveBurner     1.691          0.923          -0.335         0              0              0
  48  CounterTop      1.585          0.946          0.405          0              0              0
  49  CounterTop      0.474          0.946          -1.625         0              0              0
  50  StoveBurner     1.691          0.923          0.064          0              0              0
  51  Cabinet         -2.446         1.948          1.687          0              0              0
  52  Cabinet         -2.446         1.948          1.640          0              0              0
  53  Sink            1.381          0.810          -1.271         0              225            0
  54  StoveKnob       1.878          1.093          0.150          287.989        90             0
  55  Cabinet         -2.145         0.402          -0.236         0              0              0
  56  Drawer          -2.276         0.792          0.437          0              0              0
  57  Drawer          -2.276         0.792          -0.027         0              0              0
  58  Cabinet         1.572          2.008          0.474          0              0              0
  59  Cabinet         1.572          2.008          -0.775         0              0              0
  60  Cabinet         -2.445         2.148          -1.275         0              0              0
  61  Cabinet         -2.446         2.148          -0.284         0              0              0
  62  Cabinet         -2.446         1.948          0.355          0              0              0
  63  Cabinet         -2.446         1.948          0.405          0              0              0
  64  Cabinet         -2.145         0.402          0.644          0              0              0
  65  Cabinet         -2.145         0.402          0.695          0              0              0
  66  Cabinet         -2.285         1.968          -1.325         0              180            0
  67  CounterTop      -1.485         0.946          1.319          0              0              0
  68  StoveBurner     1.411          0.923          0.064          0              0              0
  69  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  70  Drawer          -2.276         0.792          1.368          0              0              0
  71  Fridge          -2.475         0.0            -0.782         0              90             0
  72  LightSwitch     -0.929         1.350          -1.950         0              0              0
  73  Toaster         -2.564         0.900          1.876          0              90             0
  74  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  75  Window          1.508          1.534          -1.496         90             135            0
  76  Window          1.973          1.521          1.121          90             90             0
  77  SinkBasin       1.149          0.753          -1.380         0              225            0
  78  GarbageCan      1.646          -0.000         0.679          0              0              0
  79  Microwave       -2.580         0.900          2.440          0              90             0
  80  Stool           0.439          0.010          0.747          0              0              0
  81  Stool           -2.303         0.010          1.839          0              0              0
  82  Faucet          1.235          1.138          -1.473         0              225            0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: go to the coffee pot | STEP 2: pick up the mug from the machine | STEP 3: take the mug to the sink | STEP 4: fill the mug with water | STEP 5: take the full mug back to the machine | STEP 6: put the mug back under the coffee machine | END