Task: Clean a coffee mug to return it to the 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           -1.5           0.900          1.0            0              90             0
   1  Pan             2.715          1.018          -0.644         0              0              0              96
   2  Potato          -1.962         0.458          1.290          0              270            0              94
   3  Potato          2.900          1.598          -0.775         0              0              0              96
   4  ButterKnife     2.221          0.911          1.044          0              0              0              76
   5  Pot             0.281          0.964          1.082          0              0              0              47
   6  Spoon           -0.017         0.766          -0.596         0              0              0              98
   7  Spatula         -0.911         0.835          -1.257         0              180            0              100
   8  Spatula         -0.103         0.926          1.044          0              0              0              52
   9  Plate           0.707          2.156          1.468          0              0              0              50
  10  Cup             2.653          1.286          -0.709         0              0              0              96
  11  Egg             0.518          1.822          1.488          0              180            0              99
  12  Knife           -0.785         0.853          -1.400         0              0              0              100
  13  Knife           0.193          0.798          -0.651         0              0              0              98
  14  Tomato          2.838          1.320          -0.578         0              0              0              96
  15  Bowl            1.210          0.112          -0.458         0              180            0              49
  16  SaltShaker      -0.294         0.908          1.044          0              0              0              52
  17  Lettuce         2.221          0.992          1.468          0              0              0              76
  18  SoapBottle      1.171          1.660          -0.696         0              180            0              43
  19  Plate           1.688          0.914          1.468          0              0              0              76
  20  Fork            2.303          0.771          -0.422         0              270            0              54
  21  Pot             2.754          0.915          1.214          0              0              0              76
  22  Bread           2.488          0.969          1.468          0              0              0              76
  23  Egg             3.260          0.878          -0.485         0              0              0              96
  24  Kettle          0.678          0.964          1.345          0              0              0              79
  25  Tomato          1.955          0.942          1.553          0              0              0              76
  26  Cup             -1.056         0.818          -1.257         0              90             0              100
  27  Spatula         1.141          0.926          -0.684         0              180            0              41
  28  Apple           2.488          0.980          1.214          0              0              0              76
  29  Pan             0.637          0.960          1.090          0              0              0              44
  30  Lettuce         -0.246         0.992          1.299          0              0              0              52
  31  SaltShaker      1.287          0.111          1.196          0              0              0              48
  32  Knife           1.688          0.944          1.214          0              0              0              76
  33  Potato          -0.621         0.855          -1.308         0              90             0              100
  34  PepperShaker    1.872          1.650          -0.658         0              180            0              78
  35  ButterKnife     -0.151         0.911          1.299          0              0              0              52
  36  Bowl            0.140          1.653          -0.810         0              180            0              81
  37  DishSponge      -0.682         0.820          -1.183         0              0              0              100
  38  Spoon           -0.911         0.822          -1.308         0              90             0              100
  39  Mug             1.428          0.965          -0.577         0              0              0              41
  40  Sink            0.050          0.902          -0.648         0              0              0
  41  CounterTop      1.358          0.947          -0.600         0              0              0
  42  Cabinet         2.986          2.009          1.304          0              0              0
  43  Cabinet         1.022          2.009          -0.607         0              180            0
  44  StoveBurner     0.678          0.923          1.082          0              0              0
  45  Cabinet         2.371          0.402          0.995          0              0              0
  46  Drawer          -0.125         0.792          0.995          0              0              0
  47  StoveBurner     0.281          0.923          1.082          0              0              0
  48  Cabinet         1.025          0.402          0.995          0              0              0
  49  Cabinet         1.023          0.402          -0.296         0              180            0
  50  Cabinet         0.974          2.259          1.304          0              0              0
  51  Cabinet         0.979          2.009          -0.607         0              180            0
  52  CounterTop      -0.158         0.947          1.299          0              0              0
  53  Cabinet         1.725          2.009          1.304          0              0              0
  54  Drawer          2.205          0.792          -0.294         0              180            0
  55  Drawer          1.869          0.792          -0.294         0              180            0
  56  StoveBurner     0.281          0.923          1.347          0              0              0
  57  Drawer          2.512          0.792          0.995          0              0              0
  58  Cabinet         1.673          0.402          -0.296         0              180            0
  59  Drawer          1.524          0.792          0.995          0              0              0
  60  Drawer          1.174          0.792          -0.294         0              180            0
  61  Cabinet         1.720          0.402          0.995          0              0              0
  62  Cabinet         2.348          2.009          -0.607         0              180            0
  63  Cabinet         1.676          2.009          -0.607         0              180            0
  64  Cabinet         1.673          2.009          1.304          0              0              0
  65  Cabinet         2.326          2.009          1.304          0              0              0
  66  Cabinet         2.370          2.009          1.304          0              0              0
  67  Cabinet         0.021          2.009          1.304          0              0              0
  68  Cabinet         1.025          2.009          1.304          0              0              0
  69  Cabinet         -0.274         0.402          0.995          0              0              0
  70  Cabinet         1.675          0.402          0.995          0              0              0
  71  Drawer          1.524          0.792          -0.294         0              180            0
  72  Drawer          2.187          0.792          0.995          0              0              0
  73  Cabinet         2.977          0.402          0.995          0              0              0
  74  Drawer          1.862          0.792          0.995          0              0              0
  75  Cabinet         0.072          2.259          1.304          0              0              0
  76  CounterTop      1.917          0.947          1.299          0              0              0
  77  Cabinet         2.328          0.402          0.995          0              0              0
  78  Cabinet         1.723          2.009          -0.607         0              180            0
  79  StoveBurner     0.677          0.923          1.345          0              0              0
  80  Cabinet         0.355          2.009          -0.607         0              180            0
  81  Cabinet         0.332          2.009          -0.607         0              180            0
  82  Cabinet         2.349          0.402          -0.296         0              180            0
  83  Cabinet         -0.284         2.009          -0.607         0              180            0
  84  Faucet          0.061          0.906          -0.903         0              0              0
  85  Drawer          2.837          0.792          0.995          0              0              0
  86  Drawer          1.175          0.792          0.995          0              0              0
  87  Cabinet         1.723          0.402          -0.296         0              180            0
  88  StoveKnob       0.588          1.093          1.557          287.970        0              0
  89  StoveKnob       0.188          1.093          1.557          287.970        0              0
  90  StoveKnob       0.749          1.093          1.557          287.970        0              0
  91  StoveKnob       0.338          1.093          1.557          287.970        0              0
  92  Toaster         1.934          0.900          -0.717         0              0              0
  93  LightSwitch     -1.662         1.427          1.649          0              180            0
  94  GarbageCan      -1.965         -0.029         1.358          0              270            0
  95  CoffeeMachine   1.542          0.900          -0.751         0              0              0
  96  Fridge          3.043          0.0            -0.709         0              0              0
  97  Window          -2.183         1.501          -0.014         90             270            0
  98  SinkBasin       0.043          0.755          -0.651         0              0              0
  99  Microwave       0.531          1.675          1.437          0              180            0
 100  DiningTable     -0.836         8.404          -1.258         0              0              0
 101  Chair           -1.611         0.002          -1.185         0              45             0
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: Move across the room to the counter top where the coffee maker is with the mug on it | STEP 2: Pick up the white coffee mug on the counter | STEP 3: Carry the coffee mug to the sink counter | STEP 4: Place the mug in the sink to wash it then pick up the coffee mug | STEP 5: Return to the coffee maker on top of the kitchen counter | STEP 6: Place the coffee mug on the coffee maker where the mug goes | END