Task: put washed mug inside 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           0.0            0.900          1.25           0              270            0
   1  Pan             -0.036         0.950          -2.576         0              270            0              68
   2  Statue          -0.197         1.110          -0.253         0              270            0              65
   3  Potato          -2.122         1.533          1.092          0              90             0              98
   4  Potato          -2.018         0.800          -1.328         0              90             0              100
   5  CreditCard      -1.143         0.908          -2.560         0              0              0              90
   6  Plate           -0.473         1.108          0.757          0              0              0              65
   7  Cup             -2.040         1.500          1.008          0              90             0              98
   8  Tomato          -1.290         0.950          -2.560         0              0              0              90
   9  Tomato          -2.070         1.345          1.092          0              90             0              98
  10  SoapBottle      1.482          0.881          -2.617         0              180            0              92
  11  SoapBottle      -0.898         1.657          -2.568         0              0              0              79
  12  SaltShaker      -1.905         0.132          -1.856         0              90             0              66
  13  SaltShaker      -1.665         0.126          0.158          0              90             0              71
  14  PepperShaker    1.891          0.877          -2.590         0              180            0              92
  15  Bread           -2.080         0.612          1.003          0              90             0              98
  16  Bread           -1.611         0.983          -0.698         0              0              0              90
  17  Apple           0.355          1.162          0.251          0              0              0              65
  18  Apple           -0.225         1.841          -2.578         0              0              0              91
  19  Spoon           -0.335         1.112          -0.001         0              0              0              65
  20  Mug             -0.059         1.106          -0.759         0              0              0              65
  21  Spatula         0.453          0.925          -2.484         0              90             0              67
  22  ButterKnife     -1.908         0.769          -1.501         0              90             0              100
  23  Glassbottle     1.789          0.881          -2.590         0              180            0              92
  24  WineBottle      0.563          0.141          -2.436         0              0              0              82
  25  WineBottle      1.098          0.911          -2.253         0              0              0              67
  26  DishSponge      -1.740         0.154          -0.197         0              90             0              88
  27  DishSponge      -1.855         0.135          -1.156         0              90             0              66
  28  Bowl            -1.852         0.766          -1.414         0              90             0              100
  29  Bowl            -1.008         0.133          -2.301         0              0              0              83
  30  Book            0.155          1.1            0.617          0              315            0              65
  31  Glassbottle     -1.907         0.048          1.981          0              270            0              96
  32  Knife           0.840          0.936          -2.253         0              0              0              67
  33  Bread           0.355          1.184          -0.001         0              0              0              65
  34  Fork            -1.782         0.794          0.331          0              180            0              62
  35  Potato          -0.070         1.820          -2.578         0              0              0              91
  36  SoapBottle      -1.824         0.479          -0.293         0              90             0              80
  37  Kettle          1.037          0.9            -2.596         0              0              0              67
  38  Pan             -0.465         0.950          -2.576         0              90             0              74
  39  Plate           0.324          0.907          -2.560         0              0              0              67
  40  Tomato          -0.995         0.950          -2.329         0              0              0              90
  41  Vase            0.582          0.912          -2.484         0              0              0              67
  42  Egg             0.324          0.945          -2.714         0              0              0              67
  43  CreditCard      -0.848         0.908          -2.713         0              0              0              90
  44  Statue          0.079          1.110          -0.506         0              0              0              65
  45  WineBottle      0.355          1.112          -0.759         0              0              0              65
  46  Pot             -1.219         0.9            -2.356         0              0              0              90
  47  Spatula         -1.774         0.926          -2.695         0              90             0              90
  48  PaperTowelRoll  2.096          0.985          -2.563         0              180            0              92
  49  Cup             -2.163         1.500          0.841          0              90             0              98
  50  Vase            -0.335         1.109          -0.506         0              0              0              65
  51  Bowl            -1.755         0.132          -1.623         0              90             0              66
  52  SaltShaker      1.065          0.477          -2.331         0              0              0              73
  53  PepperShaker    -0.473         1.107          -0.506         0              0              0              65
  54  Lettuce         -1.806         0.973          -0.942         0              256.771        0              90
  55  ButterKnife     -1.963         0.769          -1.673         0              270            0              100
  56  Apple           -2.100         0.961          -2.256         0              0              0              90
  57  DishSponge      -1.852         0.769          -1.242         0              90             0              100
  58  Spoon           0.969          0.911          -2.407         0              0              0              67
  59  Mug             -1.814         0.124          0.112          0              90             0              71
  60  StoveBurner     -0.036         0.915          -2.372         0              0              0
  61  Drawer          0.949          0.832          -2.197         0              0              0
  62  Drawer          -1.560         0.839          0.204          0              90             0
  63  StoveBurner     -0.465         0.915          -2.371         0              180            0
  64  Drawer          -1.560         0.839          -0.197         0              90             0
  65  CounterTop      -0.079         1.147          -0.001         0              0              0
  66  Cabinet         -1.549         0.494          -1.964         0              90             0
  67  CounterTop      0.693          0.946          -2.483         0              0              0
  68  StoveBurner     -0.036         0.915          -2.576         0              0              0
  69  Drawer          0.949          0.393          -2.200         0              0              0
  70  Drawer          0.949          0.708          -2.200         0              0              0
  71  Cabinet         -1.549         0.494          0.379          0              90             0
  72  StoveKnob       -0.022         0.881          -2.187         45             0              0
  73  Drawer          0.949          0.560          -2.201         0              0              0
  74  StoveBurner     -0.465         0.915          -2.575         0              180            0
  75  Window          -2.230         1.429          -1.203         0              0              0
  76  StoveKnob       -0.483         0.881          -2.187         45             0              0
  77  Sink            -1.899         0.964          -1.5           0              90             0
  78  StoveKnob       -0.328         0.881          -2.187         45             0              0
  79  Cabinet         -0.727         2.015          -2.460         0              0              0
  80  Drawer          -1.560         0.655          -0.196         0              90             0
  81  Cabinet         -1.685         2.015          -2.461         0              0              0
  82  Cabinet         0.680          0.494          -2.200         0              0              0
  83  Cabinet         -1.179         0.494          -2.200         0              0              0
  84  Cabinet         -1.849         2.015          0.379          0              90             0
  85  Drawer          0.949          0.221          -2.200         0              0              0
  86  StoveKnob       -0.183         0.881          -2.187         45             0              0
  87  Cabinet         0.719          2.015          -2.460         0              0              0
  88  Drawer          -1.560         0.331          -0.196         0              90             0
  89  Cabinet         0.680          2.015          -2.460         0              0              0
  90  CounterTop      -1.868         0.946          -1.205         0              0              0
  91  Microwave       -0.236         1.689          -2.525         0              0              0
  92  Shelf           1.751          0.880          -2.560         0              0              0
  93  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  94  Toaster         -1.835         0.900          0.134          0              90             0
  95  Shelf           1.750          0.552          -2.559         0              0              0
  96  GarbageCan      -1.935         -0.002         2.029          0              270            0
  97  Shelf           1.750          0.172          -2.559         0              0              0
  98  Fridge          -2.096         0.0            1.088          0              0              0
  99  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
 100  SinkBasin       -1.908         0.759          -1.488         0              90             0
 101  LightSwitch     2.329          1.309          -0.159         0              270            0
 102  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 103  Stool           0.702          0.000          -0.514         1.202          65.108         0
 104  Stool           0.743          0.000          0.563          1.227          106.706        0
 105  Faucet          -2.070         1.132          -1.514         0              0              0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: walk to face cabinet under coffee maker | STEP 2: remove mug from cabinet | STEP 3: walk to face sink | STEP 4: wash and remove mug from sink | STEP 5: walk to face coffee maker | STEP 6: put mug inside coffee maker | END