Task: put a mug full of water 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           -0.5           0.900          -0.75          0              90             0
   1  Potato          1.562          0.221          0.651          0              0              0              88
   2  Potato          -2.532         1.336          -0.507         0              90             0              81
   3  DishSponge      -0.471         0.910          0.423          0              0              0              49
   4  Kettle          1.691          0.929          -0.335         0              0              0              57
   5  Fork            1.598          0.911          0.435          0              0              0              58
   6  Fork            -2.379         0.773          0.439          0              90             0              66
   7  Spoon           -2.455         0.912          0.331          0              0              0              66
   8  Spoon           -2.348         0.775          0.809          0              90             0              54
   9  Spatula         -0.601         0.925          1.317          0              180            0              49
  10  Egg             -0.341         0.941          0.423          0              0              0              49
  11  Cup             1.599          0.908          -0.768         0              0              0              59
  12  Cup             -2.393         1.298          -0.885         0              90             0              81
  13  Knife           -2.196         0.798          0.857          0              90             0              54
  14  Knife           1.364          0.945          -1.088         0              225            0              63
  15  Bowl            -2.605         1.534          2.695          0              0              0              53
  16  PepperShaker    -0.601         0.905          1.094          0              0              0              49
  17  PepperShaker    1.199          0.905          -0.918         0              45             0              63
  18  Lettuce         1.442          1.001          -1.220         0              225            0              63
  19  Lettuce         -2.289         0.994          1.530          0              0              0              77
  20  Bread           0.048          0.996          1.764          0              0              0              49
  21  Bread           -0.341         0.996          1.317          0              0              0              49
  22  Mug             0.464          0.955          -1.593         0              0              0              59
  23  Mug             -2.603         1.010          2.481          0              90             0              89
  24  Mug             -2.374         0.589          -1.051         0              90             0              81
  25  Apple           -2.603         1.077          2.278          0              90             0              89
  26  Pan             -0.471         0.910          1.764          0              0              0              49
  27  Knife           -2.379         0.798          1.322          0              90             0              80
  28  Apple           0.048          0.972          0.423          0              0              0              49
  29  Bowl            -2.455         0.908          0.931          0              0              0              77
  30  Fork            -2.621         0.911          0.631          0              0              0              77
  31  Bread           -2.206         0.996          0.931          0              0              0              77
  32  Plate           1.734          1.659          0.018          0              0              0              68
  33  Egg             1.021          0.941          -1.775         0              0              0              59
  34  Kettle          1.411          0.929          0.064          0              0              0              78
  35  Potato          -2.393         1.336          -0.507         0              90             0              81
  36  SaltShaker      -2.685         1.928          -1.207         0              0              0              70
  37  Lettuce         -2.621         0.994          1.230          0              0              0              77
  38  Cup             -2.349         0.112          1.475          0              0              0              55
  39  SoapBottle      -2.455         0.912          1.230          0              0              0              77
  40  Spatula         -2.257         0.789          0.070          0              270            0              67
  41  PaperTowelRoll  1.687          0.289          0.623          0              0              0              88
  42  ButterKnife     1.769          0.911          0.435          0              180            0              58
  43  PepperShaker    -2.685         1.532          2.550          0              0              0              53
  44  DishSponge      -2.372         0.910          0.031          0              0              0              77
  45  Pot             1.691          0.929          0.064          0              0              0              60
  46  Spoon           -0.601         0.912          0.870          0              0              0              49
  47  Tomato          1.770          0.953          -0.684         0              0              0              59
  48  Mug             1.808          1.658          -0.694         0              0              0              69
  49  CounterTop      -0.360         0.946          1.093          0              0              0
  50  StoveBurner     1.412          0.923          -0.335         0              0              0
  51  StoveKnob       1.878          1.093          0.018          287.989        90             0
  52  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  53  Cabinet         -2.446         1.948          2.924          0              0              0
  54  Drawer          -2.276         0.792          0.902          0              0              0
  55  Cabinet         -2.145         0.402          1.578          0              0              0
  56  Cabinet         0.149          2.008          -1.603         0              90             0
  57  StoveBurner     1.691          0.923          -0.335         0              0              0
  58  CounterTop      1.585          0.946          0.405          0              0              0
  59  CounterTop      0.474          0.946          -1.625         0              0              0
  60  StoveBurner     1.691          0.923          0.064          0              0              0
  61  Cabinet         -2.446         1.948          1.687          0              0              0
  62  Cabinet         -2.446         1.948          1.640          0              0              0
  63  Sink            1.381          0.810          -1.271         0              225            0
  64  StoveKnob       1.878          1.093          0.150          287.989        90             0
  65  Cabinet         -2.145         0.402          -0.236         0              0              0
  66  Drawer          -2.276         0.792          0.437          0              0              0
  67  Drawer          -2.276         0.792          -0.027         0              0              0
  68  Cabinet         1.572          2.008          0.474          0              0              0
  69  Cabinet         1.572          2.008          -0.775         0              0              0
  70  Cabinet         -2.445         2.148          -1.275         0              0              0
  71  Cabinet         -2.446         2.148          -0.284         0              0              0
  72  Cabinet         -2.446         1.948          0.355          0              0              0
  73  Cabinet         -2.446         1.948          0.405          0              0              0
  74  Cabinet         -2.145         0.402          0.644          0              0              0
  75  Cabinet         -2.145         0.402          0.695          0              0              0
  76  Cabinet         -2.285         1.968          -1.325         0              180            0
  77  CounterTop      -1.485         0.946          1.319          0              0              0
  78  StoveBurner     1.411          0.923          0.064          0              0              0
  79  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  80  Drawer          -2.276         0.792          1.368          0              0              0
  81  Fridge          -2.475         0.0            -0.782         0              90             0
  82  LightSwitch     -0.929         1.350          -1.950         0              0              0
  83  Toaster         -2.564         0.900          1.876          0              90             0
  84  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  85  Window          1.508          1.534          -1.496         90             135            0
  86  Window          1.973          1.521          1.121          90             90             0
  87  SinkBasin       1.149          0.753          -1.380         0              225            0
  88  GarbageCan      1.646          -0.000         0.679          0              0              0
  89  Microwave       -2.580         0.900          2.440          0              90             0
  90  Stool           0.439          0.010          0.747          0              0              0
  91  Stool           -2.303         0.010          1.839          0              0              0
  92  Faucet          1.235          1.138          -1.473         0              225            0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: go to the coffee machine | STEP 2: pick up the mug from the machine | STEP 3: take the mug to the sink  | STEP 4: fill it with water and take back out | STEP 5: take the filled mug to the coffee machine | STEP 6: put the cup on the machine | END