Task: Placing a clean mug on the coffeemaker.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.869          -3.5           0              180            0
   1  DishSponge      0.672          0.772          -0.735         0              270            0              68
   2  DishSponge      0.858          1.463          -0.084         0              0              0              56
   3  ButterKnife     -1.056         0.900          1.187          0              270            0              71
   4  Spatula         0.720          0.775          -0.252         0              90             0              44
   5  Spatula         0.574          0.774          -0.252         0              90             0              44
   6  Spoon           0.950          0.884          -0.176         0              0              0              45
   7  Spoon           0.721          0.665          0.569          0              180            0              50
   8  Fork            -0.453         0.901          0.843          0              270            0              71
   9  Egg             0.601          0.701          0.387          0              0              0              50
  10  Egg             -2.002         0.836          -3.607         0              0              0              67
  11  Cup             -0.051         0.899          0.758          0              270            0              71
  12  Cup             0.661          0.664          0.569          0              0              0              50
  13  Plate           0.732          0.019          -0.119         0              0              0              55
  14  Tomato          -1.260         0.100          -3.611         0              270            0              60
  15  Tomato          0.746          1.423          -2.113         0              270            0              65
  16  SoapBottle      0.781          0.663          0.326          0              0              0              50
  17  PepperShaker    0.961          0.661          0.387          0              0              0              50
  18  Bread           0.149          0.944          1.101          0              270            0              71
  19  Lettuce         0.708          1.461          -1.880         0              270            0              65
  20  Mug             0.949          1.458          -0.331         0              90             0              56
  21  Mug             0.698          0.941          -1.360         0              270            0              58
  22  Apple           0.841          0.826          -0.845         0              270            0              68
  23  Pot             -2.097         0.930          1.049          0              0              0              52
  24  Plate           -1.719         0.705          -1.091         0              0              0              81
  25  Fork            0.757          0.773          -0.625         0              270            0              68
  26  SoapBottle      0.803          0.882          0.098          0              0              0              45
  27  Apple           -1.556         0.750          -3.445         0              0              0              72
  28  Pan             -1.555         0.930          1.049          0              0              0              54
  29  Egg             1.055          0.920          -0.913         0              0              0              45
  30  Spatula         -0.252         0.915          0.929          0              180            0              71
  31  Potato          -2.054         0.832          -3.705         0              0              0              67
  32  Cup             0.785          0.663          -1.958         0              270            0              65
  33  SaltShaker      0.898          0.012          -0.315         0              0              0              55
  34  PepperShaker    0.582          0.879          -0.314         0              0              0              45
  35  ButterKnife     0.655          0.883          0.029          0              0              0              45
  36  DishSponge      0.950          0.883          -0.039         0              0              0              45
  37  Bread           -0.873         0.931          0.978          0              24.231         0              71
  38  Lettuce         0.841          0.751          0.508          0              0              0              50
  39  Tomato          0.669          0.514          -2.035         0              270            0              65
  40  Spoon           -1.719         0.702          -1.524         0              0              0              81
  41  Knife           -0.051         0.923          1.015          0              270            0              71
  42  Mug             0.621          0.010          -0.898         0              0              0              48
  43  Bowl            -2.038         0.691          -1.003         0              0              0              81
  44  Drawer          0.706          0.766          -0.125         0              0              0
  45  CounterTop      0.792          0.919          -0.108         0              0              0
  46  Mirror          1.093          1.602          -0.643         0              0              0
  47  StoveBurner     -2.096         0.890          0.785          0              0              0
  48  Cabinet         0.507          0.345          -0.426         0              0              0
  49  StoveBurner     -1.552         0.890          0.785          0              0              0
  50  SideTable       0.770          -0.030         0.443          0              0              0
  51  Sink            0.753          0.882          -0.680         0              0              0
  52  StoveBurner     -2.096         0.890          1.049          0              0              0
  53  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  54  StoveBurner     -1.554         0.890          1.049          0              0              0
  55  Cabinet         0.507          0.345          0.156          0              0              0
  56  Cabinet         0.717          1.822          -0.398         0              0              0
  57  Cabinet         0.717          1.822          0.669          0              0              0
  58  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  59  Toaster         -0.522         0.886          1.081          0              180            0
  60  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  61  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  62  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  63  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  64  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  65  Fridge          0.680          -0.031         -1.957         0              0              0
  66  Window          -2.424         1.639          -2.453         90             270            0
  67  Microwave       -1.994         0.690          -3.651         0              0              0
  68  SinkBasin       0.757          0.762          -0.688         0              270            0
  69  LightSwitch     1.102          1.368          -3.737         0              270            0
  70  Shelf           -0.350         0.124          0.857          0              0              0
  71  DiningTable     -0.350         -0.025         0.857          0              0              0
  72  DiningTable     -1.909         -0.032         -3.507         0              0              0
  73  Blinds          -2.343         2.151          -2.437         0              270            0
  74  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  75  AluminumFoil    0.751          0.225          0.287          0              0              0
  76  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  77  Shelf           0.771          0.226          0.445          0              0              0
  78  Shelf           0.771          0.456          0.446          0              0              0
  79  Faucet          1.025          0.873          -0.678         270            180            0
  80  Shelf           -0.350         0.497          0.857          0              0              0
  81  DiningTable     -1.929         -0.035         -1.398         0              90             0
  82  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn around to the left and walk to the coffee maker.  | STEP 2: Grab the mug from the coffeemaker. | STEP 3: Turn to the left and walk to the sink. | STEP 4: Place the mug into the sink and rinse it with water. Remove the mug from the sink.  | STEP 5: Turn to the right and walk back to the coffeemaker.  | STEP 6: Place the mug on the coffeemaker.  | END