Task: Put a clean mug in 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           -1.25          0.900          2.0            0              270            0
   1  Potato          0.652          0.951          -1.263         0              90             0              49
   2  Potato          0.220          0.950          0.739          0              90             0              45
   3  ButterKnife     1.586          0.911          -1.460         0              270            0              49
   4  DishSponge      1.800          0.069          1.540          0              270            0              63
   5  DishSponge      1.805          1.653          -0.497         0              0              0              56
   6  Pot             1.543          0.909          -0.320         0              90             0              48
   7  Fork            0.356          0.911          -1.352         0              180            0              49
   8  Fork            0.476          0.911          0.739          0              180            0              45
   9  Cup             0.220          0.908          1.180          0              90             0              45
  10  Cup             1.840          1.644          -1.683         0              0              0              59
  11  Plate           1.809          2.137          1.159          0              0              0              52
  12  Bowl            0.988          0.909          1.180          0              90             0              45
  13  SaltShaker      1.656          0.906          -1.631         0              90             0              49
  14  SaltShaker      1.607          0.905          0.518          0              90             0              45
  15  PepperShaker    0.455          0.906          -1.263         0              90             0              49
  16  PepperShaker    1.865          0.906          -1.288         0              90             0              49
  17  Lettuce         1.757          1.010          0.827          0              90             0              45
  18  Bread           0.476          0.987          1.180          0              90             0              45
  19  Mug             0.502          0.940          -1.460         0              0              0              71
  20  Mug             -0.216         1.054          -1.408         0              90             0              72
  21  Apple           1.032          0.817          -1.654         0              0              0              64
  22  Apple           -0.644         0.517          -1.348         0              0              0              72
  23  Plate           1.501          0.912          0.915          0              90             0              45
  24  SoapBottle      1.800          0.068          1.779          0              270            0              63
  25  Cup             -0.741         0.744          -1.594         0              0              0              72
  26  Egg             -0.595         0.781          -1.559         0              0              0              72
  27  Fork            1.451          0.911          0.467          0              270            0              45
  28  Ladle           1.201          0.926          0.743          3.362          0              347.001        45
  29  Apple           -0.692         1.740          -1.559         0              0              0              72
  30  SaltShaker      1.805          1.628          -0.828         0              0              0              57
  31  Pan             1.281          0.900          1.190          0              0              0              45
  32  Tomato          1.656          0.975          -1.802         0              90             0              49
  33  Spatula         1.726          0.926          -1.460         0              180            0              49
  34  Potato          -0.838         0.500          -1.541         0              0              0              72
  35  Knife           1.139          0.761          -1.584         271.606        65.392         294.773        64
  36  ButterKnife     0.296          0.9            -1.296         0              14.568         0              49
  37  Bread           1.757          0.987          1.180          0              90             0              45
  38  Lettuce         -0.692         1.488          -1.594         0              0              0              72
  39  PepperShaker    1.865          0.906          -1.545         0              90             0              49
  40  Pot             1.548          0.909          0.075          0              180            0              51
  41  DishSponge      1.844          1.638          0.431          0              0              0              54
  42  Spoon           1.245          0.911          1.004          0              90             0              45
  43  Bowl            1.839          0.909          0.415          0              90             0              45
  44  Mug             1.451          0.905          0.311          0              90             0              45
  45  CounterTop      0.989          0.946          1.016          0              90             0
  46  StoveBurner     1.807          0.907          0.075          0              180            0
  47  StoveBurner     1.807          0.907          -0.320         0              180            0
  48  StoveBurner     1.543          0.907          -0.320         0              90             0
  49  CounterTop      0.989          0.946          -1.516         0              90             0
  50  Sink            1.100          0.906          -1.599         0              0              0
  51  StoveBurner     1.548          0.907          0.075          0              180            0
  52  Cabinet         1.658          2.299          1.313          0              0              0
  53  Cabinet         1.658          2.299          0.686          0              0              0
  54  Cabinet         1.658          2.049          0.673          0              0              0
  55  Cabinet         1.658          2.059          0.193          0              0              0
  56  Cabinet         1.658          2.059          -0.593         0              0              0
  57  Cabinet         1.658          2.049          -0.606         0              0              0
  58  Cabinet         1.658          2.049          -1.206         0              0              0
  59  Cabinet         1.658          2.049          -1.893         0              0              0
  60  Toaster         0.131          0.900          -1.589         0              0              0
  61  Window          -0.372         1.588          3.349          90             0              0
  62  Window          0.782          1.741          -1.893         90             0              0
  63  GarbageCan      1.770          -0.029         1.685          0              270            0
  64  SinkBasin       1.091          0.740          -1.599         0              0              0
  65  StoveKnob       1.364          0.821          0.086          48.421         270            0
  66  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  67  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  68  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  69  Microwave       1.752          0.900          -0.843         0              270            0
  70  LightSwitch     2.0            1.261          3.094          0              270            0
  71  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  72  Fridge          -0.533         0.0            -1.554         0              0              0
  73  Chair           1.068          0.000          1.752          0              191.622        0
  74  Faucet          1.110          1.138          -1.764         0              270            0
  75  Chair           0.357          0.000          1.710          0              178.899        0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Move to the coffee machine | STEP 2: Pick up the mug from the coffee machine. | STEP 3: Bring the mug to the sink. | STEP 4: Clean the mug in the sink.  | STEP 5: Bring the mug to the coffee machine. | STEP 6: Put the mug in the coffee machine.  | END