Task: Place the mug filled with water 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          2.75           0              90             0
   1  Pan             -0.244         0.829          1.684          0              0              0              50
   2  Potato          -2.777         0.960          1.284          0              90             0              70
   3  Potato          -2.837         1.484          2.221          0              90             0              69
   4  Ladle           -0.147         0.867          0.426          0              0              0              51
   5  DishSponge      -0.360         0.694          1.178          0              0              0              47
   6  DishSponge      -2.881         1.435          0.708          0              0              0              60
   7  ButterKnife     -0.496         0.694          1.252          0              90             0              47
   8  Fork            -0.462         0.695          1.288          0              270            0              47
   9  Fork            -1.542         0.824          0.539          0              0              0              51
  10  Egg             -2.711         0.945          1.178          0              90             0              70
  11  Egg             -1.876         0.847          0.032          0              0              0              51
  12  Plate           -2.000         0.130          0.362          0              0              0              63
  13  Plate           -2.671         1.148          2.133          0              90             0              69
  14  Tomato          -2.726         1.495          2.133          0              90             0              69
  15  Tomato          -2.671         0.874          1.957          0              90             0              69
  16  SoapBottle      -2.882         1.432          0.941          0              0              0              59
  17  Bowl            -2.540         1.845          2.368          0              0              0              61
  18  SaltShaker      -2.834         1.430          0.605          0              0              0              60
  19  PepperShaker    -2.258         0.818          0.500          0              0              0              51
  20  PepperShaker    -2.569         0.116          1.589          0              0              0              62
  21  Mug             -2.726         0.819          2.309          0              90             0              69
  22  Apple           -2.844         0.994          1.178          0              90             0              70
  23  Apple           -0.362         0.129          2.606          0              0              0              71
  24  Fork            -2.631         0.693          1.474          0              90             0              56
  25  Ladle           -2.540         1.893          1.926          0              0              0              45
  26  Pan             -0.244         0.829          2.075          0              180            0              46
  27  SoapBottle      -0.314         0.821          0.500          0              0              0              51
  28  Pot             -0.531         0.822          2.096          0              0              0              48
  29  Tomato          -2.669         1.181          2.373          0              0              0              69
  30  Potato          -2.837         0.863          1.957          0              90             0              69
  31  SaltShaker      -2.890         0.818          0.462          0              0              0              51
  32  Plate           -1.522         0.130          0.440          0              0              0              64
  33  Spatula         -2.504         0.838          0.625          0              90             0              51
  34  Knife           -2.662         0.819          0.557          90             300.034        0              51
  35  Egg             -0.362         0.080          2.505          0              0              0              71
  36  Cup             -2.837         1.144          1.957          0              90             0              69
  37  ButterKnife     -1.151         0.823          0.426          0              0              0              51
  38  Lettuce         -2.837         1.529          2.397          0              90             0              69
  39  PepperShaker    -2.377         1.431          0.142          0              0              0              58
  40  DishSponge      -1.161         0.697          0.410          0              0              0              55
  41  Bread           -0.979         0.855          0.249          0              29.999         0              51
  42  Spoon           -1.077         0.699          0.377          0              90             0              55
  43  Mug             -0.646         0.888          0.367          0              0              0              79
  44  Bowl            -1.967         0.699          0.295          0              0              0              78
  45  Cabinet         -2.377         2.015          1.720          0              0              0
  46  StoveBurner     -0.244         0.820          2.075          0              180            0
  47  Drawer          -0.402         0.703          1.252          0              0              0
  48  StoveBurner     -0.518         0.820          2.075          0              180            0
  49  Sink            -1.838         0.726          0.343          0              180            0
  50  StoveBurner     -0.244         0.820          1.684          0              0              0
  51  CounterTop      -1.557         0.859          0.277          0              0              0
  52  StoveBurner     -0.518         0.820          1.684          0              0              0
  53  Drawer          -0.404         0.704          0.912          0              0              0
  54  Drawer          -0.861         0.709          0.420          0              0              0
  55  Drawer          -1.133         0.706          0.418          0              0              0
  56  Drawer          -2.589         0.703          1.511          0              0              0
  57  Cabinet         -2.772         1.803          0.508          0              0              0
  58  Cabinet         -2.460         1.803          0.231          0              0              0
  59  Cabinet         -2.781         1.798          0.825          0              0              0
  60  Cabinet         -2.781         1.798          0.815          0              0              0
  61  Cabinet         -2.377         2.009          2.581          0              0              0
  62  Cabinet         -2.442         0.385          1.672          0              0              0
  63  Cabinet         -2.238         0.385          0.564          0              0              0
  64  Cabinet         -1.286         0.385          0.564          0              0              0
  65  Cabinet         -1.262         0.385          0.565          0              0              0
  66  Cabinet         -0.734         0.385          0.565          0              0              0
  67  Cabinet         -0.549         0.385          0.751          0              0              0
  68  Cabinet         -0.549         0.385          1.412          0              0              0
  69  Fridge          -2.782         0.0            2.221          0              0              0
  70  Microwave       -2.794         0.812          1.348          0              90             0
  71  GarbageCan      -0.329         2.205          2.606          0              0              0
  72  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  73  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  74  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  75  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  76  Window          -1.720         1.342          -0.208         90             0              0
  77  Toaster         -0.171         0.812          0.735          0              270            0
  78  SinkBasin       -1.745         0.687          0.295          0              0              0
  79  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  80  LightSwitch     -0.615         1.378          3.0            0              180            0
  81  Faucet          -1.686         0.954          0.176          0              236.223        0
  82  Stool           -1.008         0.008          1.955          0              18.279         0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn to the right and walk straight to face the counter to the left of the sink. | STEP 2: Pick up the coffee mug from the coffee maker. | STEP 3: Move to the right to face the sink. | STEP 4: Place the mug in the sink, fill the sink up with water and pick up the mug. | STEP 5: Move to the left to face the coffee machine. | STEP 6: Place the mug in the coffee machine. | END