Task: put a mug full of water under the coffee pot

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          2.25           0              270            0
   1  Statue          -0.473         1.110          -0.759         0              90             0              66
   2  Potato          -1.143         0.941          -2.406         0              0              0              91
   3  Plate           -0.225         1.787          -2.546         0              0              0              92
   4  Cup             -1.567         1.656          -2.604         0              0              0              82
   5  Cup             -1.742         0.767          -1.673         0              90             0              101
   6  Egg             -1.953         0.833          1.003          0              90             0              99
   7  Egg             -2.038         0.575          0.837          0              90             0              99
   8  Tomato          1.098          0.949          -2.253         0              0              0              68
   9  Tomato          -2.018         0.808          -1.242         0              90             0              101
  10  SoapBottle      1.582          0.554          -2.614         0              180            0              96
  11  SaltShaker      2.100          0.549          -2.718         0              180            0              96
  12  Bread           -0.197         1.184          -0.506         0              0              0              66
  13  Bread           0.217          1.184          -0.253         0              0              0              66
  14  Lettuce         0.079          1.191          -0.506         0              0              0              66
  15  Apple           -2.114         1.356          1.092          0              90             0              99
  16  Apple           -0.335         1.162          -0.253         0              0              0              66
  17  Knife           0.079          1.136          -0.759         0              180            0              66
  18  Knife           -1.852         0.795          -1.328         0              0              0              101
  19  Fork            1.006          0.777          -2.420         0              0              0              62
  20  ButterKnife     -1.908         0.769          -1.587         0              90             0              101
  21  ButterKnife     0.893          0.481          -2.380         0              0              0              74
  22  Kettle          -0.465         0.950          -2.372         0              90             0              64
  23  Glassbottle     -1.143         0.912          -2.560         0              0              0              91
  24  Glassbottle     -1.907         0.048          2.029          0              270            0              97
  25  WineBottle      -2.019         0.912          -0.698         0              0              0              91
  26  WineBottle      -0.197         1.112          0.251          0              0              0              66
  27  DishSponge      -1.765         0.129          0.158          0              90             0              72
  28  DishSponge      -1.290         0.910          -2.560         0              0              0              91
  29  Bowl            0.506          0.137          -2.387         0              0              0              83
  30  Bowl            -1.797         0.766          -1.501         0              90             0              101
  31  Book            0.155          1.1            0.617          0              315            0              66
  32  Glassbottle     -1.963         0.770          -1.760         0              90             0              101
  33  Knife           0.453          0.936          -2.560         0              180            0              68
  34  Bread           -0.522         1.170          -0.028         0              0              0              66
  35  Fork            0.969          0.911          -2.484         0              0              0              68
  36  Potato          -1.852         0.800          -1.760         0              90             0              101
  37  SoapBottle      -1.880         0.048          2.172          0              270            0              97
  38  Kettle          -0.036         0.950          -2.372         0              270            0              61
  39  Pan             -0.197         1.111          -0.001         0              180            0              66
  40  Plate           -0.335         1.108          0.504          0              0              0              66
  41  Tomato          -1.852         0.808          -1.242         0              90             0              101
  42  Vase            2.042          0.540          -2.495         0              0              0              96
  43  Egg             -2.018         0.804          -1.673         0              90             0              101
  44  CreditCard      1.123          0.312          -2.431         0              0              0              70
  45  Statue          -0.995         0.910          -2.406         0              90             0              91
  46  WineBottle      1.891          0.881          -2.536         0              180            0              93
  47  Pot             -2.040         1.507          1.092          0              90             0              99
  48  Spatula         0.840          0.925          -2.330         0              0              0              68
  49  PaperTowelRoll  1.685          0.657          -2.666         0              180            0              96
  50  Cup             1.893          0.550          -2.459         0              180            0              96
  51  Vase            2.096          0.878          -2.590         0              180            0              93
  52  Bowl            -2.038         0.537          1.251          0              90             0              99
  53  SaltShaker      -0.473         1.107          -0.506         0              0              0              66
  54  PepperShaker    -1.783         0.150          -0.245         0              90             0              89
  55  Lettuce         0.217          1.191          -0.001         0              0              0              66
  56  ButterKnife     -0.059         1.111          -0.759         0              0              0              66
  57  Apple           -2.100         0.961          -2.256         0              0              0              91
  58  DishSponge      -1.962         0.047          1.933          0              270            0              97
  59  Spoon           0.324          0.911          -2.330         0              90             0              68
  60  Mug             -1.731         0.956          -0.168         0              90             0              100
  61  StoveBurner     -0.036         0.915          -2.372         0              0              0
  62  Drawer          0.949          0.832          -2.197         0              0              0
  63  Drawer          -1.560         0.839          0.204          0              90             0
  64  StoveBurner     -0.465         0.915          -2.371         0              180            0
  65  Drawer          -1.560         0.839          -0.197         0              90             0
  66  CounterTop      -0.079         1.147          -0.001         0              0              0
  67  Cabinet         -1.549         0.494          -1.964         0              90             0
  68  CounterTop      0.693          0.946          -2.483         0              0              0
  69  StoveBurner     -0.036         0.915          -2.576         0              0              0
  70  Drawer          0.949          0.393          -2.200         0              0              0
  71  Drawer          0.949          0.708          -2.200         0              0              0
  72  Cabinet         -1.549         0.494          0.379          0              90             0
  73  StoveKnob       -0.022         0.881          -2.187         45             0              0
  74  Drawer          0.949          0.560          -2.201         0              0              0
  75  StoveBurner     -0.465         0.915          -2.575         0              180            0
  76  Window          -2.230         1.429          -1.203         0              0              0
  77  StoveKnob       -0.483         0.881          -2.187         45             0              0
  78  Sink            -1.899         0.964          -1.5           0              90             0
  79  StoveKnob       -0.328         0.881          -2.187         45             0              0
  80  Cabinet         -0.727         2.015          -2.460         0              0              0
  81  Drawer          -1.560         0.655          -0.196         0              90             0
  82  Cabinet         -1.685         2.015          -2.461         0              0              0
  83  Cabinet         0.680          0.494          -2.200         0              0              0
  84  Cabinet         -1.179         0.494          -2.200         0              0              0
  85  Cabinet         -1.849         2.015          0.379          0              90             0
  86  Drawer          0.949          0.221          -2.200         0              0              0
  87  StoveKnob       -0.183         0.881          -2.187         45             0              0
  88  Cabinet         0.719          2.015          -2.460         0              0              0
  89  Drawer          -1.560         0.331          -0.196         0              90             0
  90  Cabinet         0.680          2.015          -2.460         0              0              0
  91  CounterTop      -1.868         0.946          -1.205         0              0              0
  92  Microwave       -0.236         1.689          -2.525         0              0              0
  93  Shelf           1.751          0.880          -2.560         0              0              0
  94  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  95  Toaster         -1.835         0.900          0.134          0              90             0
  96  Shelf           1.750          0.552          -2.559         0              0              0
  97  GarbageCan      -1.935         -0.002         2.029          0              270            0
  98  Shelf           1.750          0.172          -2.559         0              0              0
  99  Fridge          -2.096         0.0            1.088          0              0              0
 100  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
 101  SinkBasin       -1.908         0.759          -1.488         0              90             0
 102  LightSwitch     2.329          1.309          -0.159         0              270            0
 103  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 104  Stool           0.702          0.000          -0.514         1.202          65.108         0
 105  Stool           0.743          0.000          0.563          1.227          106.706        0
 106  Faucet          -2.070         1.132          -1.514         0              0              0
 107  NorthWall
 108  EastWall
 109  SouthWall
 110  WestWall

Plan:
STEP 1: go to the coffee pot | STEP 2: pick up the mug | STEP 3: take the mug to the sink | STEP 4: fill the mug with water from the sink | STEP 5: take the cup full of water back to the coffee pot | STEP 6: put the filled cup back under the coffee pot | END