Task: put washed mug full of water 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           1.0            0.900          1.25           0              90             0
   1  Pan             -0.730         0.910          0.647          0              180            0              47
   2  Potato          -2.374         0.631          -0.603         0              90             0              79
   3  DishSponge      -2.645         1.537          1.192          0              0              0              60
   4  ButterKnife     1.599          0.910          -0.851         0              0              0              57
   5  ButterKnife     -0.211         0.910          1.540          0              0              0              47
   6  Kettle          -2.372         0.911          0.031          0              0              0              75
   7  Fork            -0.341         0.911          1.540          0              0              0              47
   8  Spatula         0.891          0.925          -1.557         0              45             0              57
   9  Spatula         -2.257         0.788          0.534          0              270            0              64
  10  Pot             -2.599         1.541          0.774          0              0              0              60
  11  Egg             1.520          0.215          0.761          0              0              0              86
  12  Egg             -2.538         0.941          0.631          0              0              0              75
  13  Cup             -2.513         0.592          -0.693         0              90             0              79
  14  Cup             1.662          1.661          -0.263         0              0              0              67
  15  Plate           -2.621         0.913          1.230          0              0              0              75
  16  Plate           -0.211         0.913          0.423          0              0              0              47
  17  Knife           -2.348         0.799          -0.073         0              90             0              65
  18  Tomato          -2.485         1.131          -0.885         0              90             0              79
  19  Tomato          -2.559         0.637          -0.962         0              90             0              79
  20  SoapBottle      0.048          0.912          1.317          0              0              0              47
  21  Lettuce         0.048          0.994          0.423          0              0              0              47
  22  Lettuce         -2.289         0.994          1.230          0              0              0              75
  23  Mug             -2.485         1.295          -0.979         0              90             0              79
  24  Pan             1.691          0.929          -0.335         0              0              0              55
  25  Knife           -2.196         0.799          1.322          0              90             0              78
  26  Apple           -2.206         0.972          0.031          0              90             0              75
  27  Bowl            -2.485         1.297          -0.790         0              90             0              79
  28  Fork            -2.538         0.911          0.331          0              0              0              75
  29  Bread           -2.455         0.996          0.931          0              0              0              75
  30  Plate           1.372          0.921          -1.150         0              225            0              61
  31  Egg             -2.439         1.331          -0.602         0              90             0              79
  32  Kettle          1.411          0.929          0.064          0              0              0              76
  33  Potato          0.915          0.947          -1.841         0              0              0              57
  34  SaltShaker      -2.677         1.533          1.840          0              0              0              59
  35  Lettuce         1.467          0.994          -0.764         0              45             0              61
  36  Cup             -2.393         1.087          -0.602         0              90             0              79
  37  SoapBottle      -2.448         1.585          -1.849         0              0              0              74
  38  Spatula         -2.287         0.789          0.857          0              90             0              52
  39  PaperTowelRoll  1.775          1.015          -0.897         0              90             0              57
  40  ButterKnife     -2.372         0.910          0.331          0              0              0              64
  41  PepperShaker    1.684          0.906          0.376          0              270            0              56
  42  DishSponge      -0.471         0.910          0.870          0              0              0              47
  43  Pot             1.412          0.929          -0.335         0              0              0              48
  44  Spoon           1.598          0.912          0.494          0              0              0              56
  45  Tomato          1.729          0.227          0.651          0              0              0              86
  46  Mug             0.464          0.955          -1.593         0              0              0              57
  47  CounterTop      -0.360         0.946          1.093          0              0              0
  48  StoveBurner     1.412          0.923          -0.335         0              0              0
  49  StoveKnob       1.878          1.093          0.018          287.989        90             0
  50  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  51  Cabinet         -2.446         1.948          2.924          0              0              0
  52  Drawer          -2.276         0.792          0.902          0              0              0
  53  Cabinet         -2.145         0.402          1.578          0              0              0
  54  Cabinet         0.149          2.008          -1.603         0              90             0
  55  StoveBurner     1.691          0.923          -0.335         0              0              0
  56  CounterTop      1.585          0.946          0.405          0              0              0
  57  CounterTop      0.474          0.946          -1.625         0              0              0
  58  StoveBurner     1.691          0.923          0.064          0              0              0
  59  Cabinet         -2.446         1.948          1.687          0              0              0
  60  Cabinet         -2.446         1.948          1.640          0              0              0
  61  Sink            1.381          0.810          -1.271         0              225            0
  62  StoveKnob       1.878          1.093          0.150          287.989        90             0
  63  Cabinet         -2.145         0.402          -0.236         0              0              0
  64  Drawer          -2.276         0.792          0.437          0              0              0
  65  Drawer          -2.276         0.792          -0.027         0              0              0
  66  Cabinet         1.572          2.008          0.474          0              0              0
  67  Cabinet         1.572          2.008          -0.775         0              0              0
  68  Cabinet         -2.445         2.148          -1.275         0              0              0
  69  Cabinet         -2.446         2.148          -0.284         0              0              0
  70  Cabinet         -2.446         1.948          0.355          0              0              0
  71  Cabinet         -2.446         1.948          0.405          0              0              0
  72  Cabinet         -2.145         0.402          0.644          0              0              0
  73  Cabinet         -2.145         0.402          0.695          0              0              0
  74  Cabinet         -2.285         1.968          -1.325         0              180            0
  75  CounterTop      -1.485         0.946          1.319          0              0              0
  76  StoveBurner     1.411          0.923          0.064          0              0              0
  77  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  78  Drawer          -2.276         0.792          1.368          0              0              0
  79  Fridge          -2.475         0.0            -0.782         0              90             0
  80  LightSwitch     -0.929         1.350          -1.950         0              0              0
  81  Toaster         -2.564         0.900          1.876          0              90             0
  82  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  83  Window          1.508          1.534          -1.496         90             135            0
  84  Window          1.973          1.521          1.121          90             90             0
  85  SinkBasin       1.149          0.753          -1.380         0              225            0
  86  GarbageCan      1.646          -0.000         0.679          0              0              0
  87  Microwave       -2.580         0.900          2.440          0              90             0
  88  Stool           0.439          0.010          0.747          0              0              0
  89  Stool           -2.303         0.010          1.839          0              0              0
  90  Faucet          1.235          1.138          -1.473         0              225            0
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

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