Task: Rinse a mug and place it on 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           -2.0           0.900          0.0            0              180            0
   1  Potato          -0.598         0.933          -1.119         0              47.530         0              71
   2  CreditCard      0.240          1.108          1.933          0              315            0              64
   3  Kettle          -2.773         1.796          -0.731         0              0              0              43
   4  Pot             -2.085         0.912          -1.282         0              0              0              71
   5  Spoon           -1.987         0.748          -1.008         0              0              0              66
   6  Spatula         -2.671         0.761          0.099          0              180            0              69
   7  Spatula         -1.591         0.866          -1.194         0              270            0              81
   8  Cup             0.241          1.004          -1.314         0              0              0              84
   9  Egg             -2.920         0.413          0.609          0              90             0              83
  10  Knife           -2.542         0.769          -0.027         0              90             0              69
  11  Knife           -1.073         0.874          -1.249         0              90             0              81
  12  SoapBottle      -2.728         0.038          1.396          0              0              0              82
  13  SoapBottle      0.490          1.112          1.075          0              315            0              64
  14  Bowl            -2.810         1.794          -0.376         0              0              0              43
  15  Bowl            -0.550         1.661          -1.360         0              0              0              59
  16  Lettuce         -2.860         0.899          1.013          0              90             0              83
  17  PepperShaker    -2.521         0.907          0.275          0              0              0              63
  18  Bread           0.644          1.166          1.229          0              315            0              64
  19  Apple           -2.699         0.089          1.536          0              90             0              82
  20  Pan             -2.59          0.9            -1.147         0              0              0              71
  21  Apple           0.451          1.057          -1.414         0              0              0              84
  22  Fork            -0.276         0.901          -1.118         0              0              0              71
  23  Kettle          -1.684         0.118          -1.068         0              0              0              48
  24  CreditCard      0.097          0.743          -1.009         0              0              0              72
  25  Bread           -2.740         1.528          1.013          0              90             0              83
  26  Plate           -1.458         0.843          -1.235         0              0              0              81
  27  SoapBottle      -2.521         0.912          0.106          0              0              0              63
  28  Spatula         0.133          1.126          1.737          0              315            0              64
  29  Lettuce         0.997          0.990          -1.365         0              0              0              71
  30  SaltShaker      -2.695         0.9            -0.132         0              0              0              63
  31  Tomato          0.203          1.152          1.056          0              0              0              64
  32  PepperShaker    0.057          1.658          -1.284         0              0              0              58
  33  ButterKnife     -2.222         0.9            -0.997         0              323.977        0              71
  34  Pot             -2.622         0.928          -0.396         0              0              0              65
  35  DishSponge      -1.221         0.841          -1.126         0              41.164         0              81
  36  Egg             -2.619         0.413          0.609          0              90             0              83
  37  Spoon           -2.604         0.912          -0.062         0              0              0              63
  38  Knife           -1.332         0.872          -1.194         0              270            0              81
  39  Cup             -2.920         0.377          0.932          0              90             0              83
  40  Mug             0.372          1.654          -1.353         0              0              0              50
  41  Bowl            -2.680         1.672          0.771          0              90             0              83
  42  Cabinet         -2.647         2.075          -0.875         0              0              0
  43  Cabinet         -2.647         2.075          -0.234         0              0              0
  44  Cabinet         -0.824         0.469          -0.907         0              0              0
  45  Cabinet         -1.764         2.009          -1.197         0              0              0
  46  Cabinet         -1.834         2.009          -1.197         0              0              0
  47  Cabinet         -1.850         0.389          -0.897         0              0              0
  48  Cabinet         -1.801         0.469          -0.907         0              0              0
  49  Cabinet         1.115          2.009          -1.197         0              0              0
  50  Cabinet         0.235          2.009          -1.197         0              0              0
  51  Cabinet         1.125          0.470          -0.897         0              0              0
  52  Cabinet         -2.387         0.389          0.375          0              0              0
  53  Cabinet         0.484          0.389          -0.897         0              0              0
  54  Cabinet         -2.625         2.009          -1.197         0              0              0
  55  Cabinet         -2.647         2.009          -0.945         0              0              0
  56  Cabinet         -2.647         2.200          1.664          0              0              0
  57  Cabinet         -2.647         2.009          0.364          0              0              0
  58  Cabinet         0.164          2.009          -1.197         0              0              0
  59  Cabinet         -0.765         2.009          -1.197         0              0              0
  60  Cabinet         -0.834         2.009          -1.197         0              0              0
  61  Cabinet         -2.647         2.200          0.434          0              0              0
  62  StoveBurner     -2.622         0.886          -0.711         0              0              0
  63  CounterTop      -2.699         0.946          0.106          0              0              0
  64  CounterTop      0.908          1.147          0.788          0              315            0
  65  StoveBurner     -2.622         0.886          -0.396         0              0              0
  66  Drawer          -2.026         0.779          -1.082         0              0              0
  67  Sink            -1.328         0.916          -1.225         0              0              0
  68  StoveBurner     -2.822         0.886          -0.711         0              0              0
  69  Drawer          -2.572         0.779          0.099          0              0              0
  70  StoveBurner     -2.822         0.886          -0.396         0              0              0
  71  CounterTop      0.071          0.946          -1.199         0              0              0
  72  Drawer          0.254          0.779          -1.082         0              0              0
  73  LightSwitch     -1.167         1.307          3.0            0              180            0
  74  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  75  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  76  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  77  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  78  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  79  Window          0.321          1.449          3.088          90             0              0
  80  Toaster         -2.823         0.899          0.246          0              90             0
  81  SinkBasin       -1.344         0.838          -1.25          0              0              0
  82  GarbageCan      -2.757         1.886          1.466          0              0              0
  83  Fridge          -2.855         0.0            0.851          0              0              0
  84  Microwave       0.283          0.900          -1.331         0              0              0
  85  Stool           1.541          0.010          1.328          0              45             0
  86  Stool           0.983          0.010          1.793          0              47.459         0
  87  Faucet          -1.392         1.136          -1.399         0              270            0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Turn to the left, and then the right to face the microwave. | STEP 2: Open the top cabinet and take out a mug. | STEP 3: Take the mug and take a few steps to the right towards the sink. | STEP 4: Place the mug in the sink and turn on the water. Turn off the water and pick up the mug again. | STEP 5: Carry the mug and turn around and go to the right to the coffee machine. | STEP 6: Place the mug under the coffee machine. | END