Task: Put a clean mug in a 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           -1.75          0.900          4.75           0              90             0
   1  DishSponge      0.696          0.992          0.670          0              0              0              57
   2  ButterKnife     1.582          0.992          3.511          0              0              0              57
   3  ButterKnife     1.403          0.992          3.511          0              0              0              57
   4  Fork            0.123          0.760          6.107          0              225            0              93
   5  Fork            1.582          0.993          0.440          0              0              0              57
   6  Egg             1.387          0.940          2.034          0              90             0              80
   7  Egg             -0.269         0.810          6.588          0              135            0              93
   8  Cup             -0.346         0.756          6.323          0              0              0              93
   9  Cup             -0.181         0.756          6.721          0              225            0              93
  10  Plate           1.406          0.141          2.159          0              0              0              46
  11  Plate           1.490          0.141          2.572          0              0              0              69
  12  Tomato          1.966          1.565          5.626          0              270            0              79
  13  SoapBottle      0.674          0.143          0.418          0              0              0              63
  14  SoapBottle      0.999          0.992          0.578          0              0              0              57
  15  Bowl            1.543          1.576          1.166          0              0              0              67
  16  SaltShaker      1.314          0.136          4.840          0              180            0              59
  17  SaltShaker      0.544          0.987          0.670          0              0              0              57
  18  Lettuce         -0.621         0.848          6.541          0              270            0              93
  19  Mug             2.137          1.510          6.001          0              270            0              79
  20  Apple           0.273          1.171          0.310          0              0              0              73
  21  Apple           1.135          1.067          4.716          0              0              0              58
  22  Bowl            1.450          2.206          4.219          0              0              0              45
  23  Bread           0.059          0.829          6.698          0              225            0              93
  24  Egg             2.094          1.565          5.626          0              270            0              79
  25  Knife           -0.459         1.022          0.303          0              0              0              57
  26  Fork            0.620          0.993          0.395          0              0              0              57
  27  Apple           0.147          0.834          6.349          0              135            0              93
  28  Kettle          1.32           0.988          3.848          0              0              0              56
  29  Plate           0.124          0.144          0.506          0              0              0              66
  30  SaltShaker      -0.400         0.755          6.503          0              225            0              93
  31  Lettuce         1.314          1.081          0.440          0              0              0              57
  32  SoapBottle      0.212          0.760          6.196          0              135            0              93
  33  Spatula         1.276          0.906          2.627          0              180            0              80
  34  PaperTowelRoll  1.907          0.185          6.409          0              0              0              81
  35  Pot             0.734          0.981          0.38           0              0              0              57
  36  Potato          2.137          1.550          5.376          0              0              0              79
  37  ButterKnife     -0.481         0.771          0.563          0              90             0              53
  38  PepperShaker    1.135          0.987          4.579          0              0              0              58
  39  Pan             1.313          0.985          4.284          0              0              0              52
  40  Tomato          2.094          1.565          5.251          0              270            0              79
  41  DishSponge      -0.346         0.759          6.169          0              0              0              93
  42  Cup             0.058          0.756          6.261          0              135            0              93
  43  Spoon           0.260          0.772          0.451          0              0              0              54
  44  Mug             1.384          1.043          0.847          0              270            0              57
  45  Cabinet         1.307          2.455          4.360          0              0              0
  46  Cabinet         1.054          0.422          1.710          0              0              0
  47  Drawer          1.280          0.808          4.718          0              0              0
  48  Cabinet         1.307          2.455          3.607          0              0              0
  49  Drawer          0.736          0.802          0.521          0              0              0
  50  Drawer          1.276          0.802          3.291          0              0              0
  51  StoveBurner     1.562          0.982          3.848          0              0              0
  52  StoveBurner     1.317          0.982          4.294          0              0              0
  53  Drawer          -0.482         0.802          0.521          0              0              0
  54  Drawer          0.124          0.802          0.521          0              0              0
  55  StoveBurner     1.559          0.982          4.294          0              0              0
  56  StoveBurner     1.320          0.982          3.848          0              0              0
  57  CounterTop      1.391          1.028          0.897          0              0              0
  58  CounterTop      1.391          1.028          4.716          0              0              0
  59  Cabinet         1.054          0.422          4.548          0              0              0
  60  Cabinet         1.317          2.134          0.517          0              0              0
  61  Cabinet         1.317          2.134          4.889          0              0              0
  62  Cabinet         1.317          2.134          3.095          0              0              0
  63  Cabinet         0.443          0.422          0.743          0              0              0
  64  Cabinet         1.270          2.134          0.434          0              0              0
  65  Cabinet         -0.775         0.422          0.743          0              0              0
  66  Cabinet         -0.168         0.422          0.743          0              0              0
  67  Cabinet         1.317          2.134          1.534          0              0              0
  68  Cabinet         1.054          0.422          2.990          0              0              0
  69  Cabinet         1.054          0.422          2.944          0              0              0
  70  Cabinet         -0.263         2.134          0.434          0              0              0
  71  Cabinet         0.252          2.134          0.434          0              0              0
  72  Sink            1.391          1.006          2.326          0              0              0
  73  Microwave       0.108          0.981          0.262          0              0              0
  74  HousePlant      -0.165         0.826          6.444          0              0              0
  75  CoffeeMachine   1.551          0.982          0.953          0              270            0
  76  Toaster         1.473          0.981          4.715          0              270            0
  77  Window          -2.065         1.916          3.626          90             90             0
  78  Window          1.763          2.007          2.299          90             270            0
  79  Fridge          2.035          0.0            5.625          0              0              0
  80  SinkBasin       1.387          0.880          2.338          0              90             0
  81  GarbageCan      2.001          -0.044         6.503          0              0              0
  82  StoveKnob       1.140          0.934          3.987          45             270            0
  83  StoveKnob       1.140          0.934          4.309          45             270            0
  84  StoveKnob       1.140          0.934          4.140          45             270            0
  85  StoveKnob       1.140          0.934          3.824          45             270            0
  86  Vase            -0.226         0.834          6.993          0              0              0
  87  Vase            2.098          0.043          7.070          0              257.232        0
  88  Vase            -0.594         0.835          6.130          0              225            0
  89  LightSwitch     -2.0           1.549          6.045          0              90             0
  90  Safe            2.046          1.072          7.054          0              257.232        0
  91  Faucet          1.534          1.025          2.371          0              294.391        0
  92  Blinds          1.738          2.563          2.312          0              90             0
  93  DiningTable     -0.156         0.000          6.474          0              0              0
  94  Chair           0.291          0.002          6.142          0              310.162        0
  95  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: Take a step forward, then turn right and walk across the room, hang a left and walk up to the counter. | STEP 2: Pick up the dirty mug out of the coffee machine on the counter. | STEP 3: Walk over to the sink on your left. | STEP 4: Wash the dirty mug in the sink and then pick it back up. | STEP 5: Turn right and walk back over to where the coffee machine is on the counter. | STEP 6: Put the clean mug in the coffee machine. | END