Task: place a clean cup under a coffee maker

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.75          0.899          5.25           0              270            0
   1  Pencil          -0.258         0.925          5.603          0              0              0              57
   2  Potato          -0.295         1.104          3.850          0              270            0              105
   3  Potato          -0.242         1.104          3.479          0              270            0              105
   4  DishSponge      -0.334         0.924          5.932          0              0              0              57
   5  DishSponge      -3.784         0.068          6.457          0              270            0              98
   6  WineBottle      -4.242         0.924          2.882          0              0              0              72
   7  Fork            -4.033         0.924          5.159          0              90             0              72
   8  Spoon           -4.159         0.792          3.285          0              270            0              104
   9  Spoon           -1.943         0.924          2.026          0              0              0              54
  10  Spatula         -3.494         0.938          5.182          0              90             0              72
  11  Egg             -3.639         0.104          6.498          0              270            0              98
  12  Plate           -0.488         0.925          5.273          0              0              0              57
  13  Knife           -3.686         0.953          1.875          0              0              0              72
  14  Knife           -0.411         0.954          4.944          0              0              0              57
  15  Tomato          -0.301         1.637          3.470          0              270            0              105
  16  SaltShaker      -4.033         0.919          4.122          0              90             0              72
  17  SaltShaker      -3.568         0.743          5.103          0              180            0              63
  18  PepperShaker    -3.389         1.456          5.367          0              90             0              58
  19  Bread           -0.301         1.415          3.850          0              270            0              105
  20  Mug             -4.103         1.451          1.764          0              45             0              46
  21  Mug             -1.693         0.918          1.724          0              0              0              54
  22  Egg             -3.852         0.959          5.259          0              90             0              72
  23  Apple           -0.181         0.978          5.932          0              0              0              57
  24  Knife           -0.411         0.954          5.603          0              0              0              57
  25  Potato          -2.635         1.579          1.698          0              0              0              102
  26  Fork            -3.195         0.914          5.462          0              0              0              72
  27  Bowl            -3.531         0.079          1.966          0              0              0              47
  28  Plate           -2.026         0.924          1.724          0              0              0              54
  29  Lettuce         -0.181         1.020          4.615          0              0              0              57
  30  Bread           -3.859         1.003          1.951          0              0              0              72
  31  Tomato          -0.259         1.392          3.355          0              270            0              105
  32  WineBottle      -4.086         0.085          2.776          0              0              0              64
  33  Spatula         -1.777         0.938          1.875          0              0              0              54
  34  PaperTowelRoll  -4.478         1.027          2.965          0              0              0              72
  35  Cup             -0.348         1.069          3.231          0              270            0              105
  36  Pencil          -4.094         0.755          2.501          0              0              0              52
  37  Pan             -2.454         0.933          2.023          0              240.000        0              60
  38  Pot             -2.469         0.930          1.712          0              270            0              87
  39  SaltShaker      -3.417         0.741          1.927          0              0              0              78
  40  SoapBottle      -3.712         0.068          6.333          0              270            0              98
  41  PepperShaker    -3.583         0.741          2.015          0              0              0              78
  42  ButterKnife     -0.181         0.925          5.273          0              0              0              57
  43  DishSponge      -4.047         0.084          2.625          0              0              0              64
  44  Spoon           -3.852         0.924          5.412          0              90             0              72
  45  Mug             -2.026         0.918          1.875          0              0              0              54
  46  Cabinet         -3.203         1.931          1.777          0              0              0
  47  Cabinet         -3.187         0.390          2.089          0              0              0
  48  Cabinet         -0.637         0.387          6.882          0              180            0
  49  Drawer          -3.797         0.781          1.961          0              0              0
  50  Cabinet         -3.036         0.387          5.029          0              90             0
  51  Drawer          -0.509         0.775          5.268          0              270            0
  52  Drawer          -4.125         0.798          2.499          0              0              0
  53  Cabinet         -0.331         2.249          4.308          0              180            0
  54  CounterTop      -1.872         0.958          1.799          0              0              0
  55  StoveBurner     -2.924         0.924          2.012          0              0              0
  56  Cabinet         -0.331         2.249          6.806          0              180            0
  57  CounterTop      -0.345         0.960          5.603          0              0              0
  58  Cabinet         -3.039         1.935          5.321          0              90             0
  59  Cabinet         -3.922         0.397          2.088          0              0              0
  60  StoveBurner     -2.467         0.924          2.012          0              0              0
  61  Cabinet         -0.331         2.249          5.505          0              180            0
  62  Drawer          -0.509         0.775          4.617          0              270            0
  63  Drawer          -3.509         0.777          5.157          0              180            0
  64  Cabinet         -3.961         0.388          2.878          0              0              0
  65  Cabinet         -3.961         0.388          4.342          0              0              0
  66  Cabinet         -0.637         0.387          5.582          0              180            0
  67  Cabinet         -0.637         0.388          4.299          0              180            0
  68  Cabinet         -0.637         0.388          5.599          0              180            0
  69  StoveBurner     -2.924         0.924          1.712          0              180            0
  70  Drawer          -1.859         0.775          1.961          0              0              0
  71  Cabinet         -0.331         2.249          5.609          0              180            0
  72  CounterTop      -4.260         0.958          4.943          0              90             0
  73  Cabinet         -4.284         1.931          2.226          0              0              0
  74  Cabinet         -0.331         2.249          3.010          0              180            0
  75  Drawer          -3.801         0.777          5.157          0              180            0
  76  Cabinet         -4.112         1.935          5.321          0              90             0
  77  Cabinet         -3.968         0.388          3.662          0              0              0
  78  Drawer          -3.418         0.777          1.961          0              0              0
  79  Drawer          -4.090         0.777          4.661          0              90             0
  80  Faucet          -4.441         0.909          3.288          270            0              0
  81  Cabinet         -0.331         2.249          4.207          0              180            0
  82  Cabinet         -3.961         0.388          2.119          0              0              0
  83  Drawer          -0.509         0.775          5.920          0              270            0
  84  Drawer          -3.193         0.777          5.157          0              180            0
  85  Cabinet         -3.968         0.388          2.894          0              0              0
  86  Cabinet         -3.667         0.387          5.029          0              90             0
  87  StoveBurner     -2.469         0.924          1.712          0              270            0
  88  Cabinet         -1.539         0.388          2.090          0              0              0
  89  Sink            -4.190         0.921          3.279          0              0              0
  90  Cabinet         -3.641         0.387          5.029          0              90             0
  91  Cabinet         -1.583         1.931          1.777          0              0              0
  92  Drawer          -0.509         0.775          6.568          0              270            0
  93  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  94  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  95  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  96  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  97  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  98  GarbageCan      -3.711         -0.030         6.376          0              270            0
  99  Toaster         -3.578         0.912          1.763          0              0              0
 100  Curtains        -4.522         2.252          3.391          90             90             0
 101  Window          -4.868         1.629          3.309          90             270            0
 102  Microwave       -2.693         1.430          1.689          0              0              0
 103  LightSwitch     -1.588         1.169          1.506          0              0              0
 104  SinkBasin       -4.196         0.780          3.276          0              270            0
 105  Fridge          -0.324         -0.001         3.602          0              0              0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: move left towards the table, then right towards the table under the shelf | STEP 2: pick up the mug | STEP 3: move right and then left towards the sink | STEP 4: rinse the mug in the sink | STEP 5: turn right towards the wall and then right towards the coffee maker | STEP 6: place the mug under the coffee maker | END