Task: rinse the mug from the coffee machine and put it back

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          -0.75          0              90             0
   1  Potato          -1.079         1.045          -1.803         0              0              0              73
   2  Potato          -2.614         0.982          0.704          0              90             0              84
   3  DishSponge      -1.164         0.773          -1.472         0              0              0              64
   4  DishSponge      -0.175         0.911          -1.654         0              0              0              51
   5  ButterKnife     0.432          0.912          0.209          0              0              0              50
   6  Pot             1.361          0.962          0.561          0              270            0              56
   7  Spoon           -1.035         0.774          -1.472         0              270            0              64
   8  Spoon           -2.065         0.953          0.614          0              90             0              84
   9  Spatula         0.035          0.927          0.623          0              180            0              50
  10  Egg             -1.959         0.546          -1.806         0              0              0              81
  11  Plate           0.332          0.109          -1.509         0              180            0              48
  12  Plate           -1.791         0.953          0.255          0              90             0              84
  13  SoapBottle      0.564          0.910          0.292          0              0              0              50
  14  Tomato          -2.135         1.541          -1.677         0              0              0              81
  15  Tomato          -0.361         0.119          0.482          0              90             0              80
  16  Bowl            1.846          0.911          0.623          0              0              0              66
  17  Bowl            -0.147         0.110          -1.471         0              0              0              60
  18  PepperShaker    -1.928         0.948          0.524          0              90             0              84
  19  PepperShaker    1.663          0.908          0.375          0              0              0              66
  20  Bread           1.781          0.995          -1.489         0              0              0              51
  21  Mug             0.618          0.945          0.469          0              180            0              75
  22  Bread           1.535          0.995          -1.737         0              0              0              51
  23  Knife           -2.477         0.977          0.524          0              90             0              84
  24  Fork            0.908          0.920          -1.516         0              270            0              49
  25  Bowl            -0.359         0.911          -1.654         0              0              0              51
  26  Kettle          -0.055         0.9            0.643          0              0              0              50
  27  Cup             -2.340         0.950          0.614          0              90             0              84
  28  Tomato          -2.222         1.100          -1.720         0              0              0              81
  29  SoapBottle      -2.477         0.950          0.255          0              90             0              84
  30  Plate           1.754          1.329          -1.809         0              180            0              67
  31  Pot             1.007          0.962          0.561          0              270            0              53
  32  Spatula         -2.477         0.967          0.165          0              180            0              84
  33  PaperTowelRoll  1.903          1.016          -1.406         0              0              0              51
  34  Egg             -0.975         1.050          -1.737         0              0              0              73
  35  Lettuce         1.289          1.002          -1.489         0              0              0              51
  36  SaltShaker      1.658          0.908          -1.654         0              0              0              51
  37  PepperShaker    -2.203         0.948          0.165          0              90             0              84
  38  Apple           0.447          0.843          -1.552         0              270            0              74
  39  ButterKnife     -2.065         0.952          0.345          0              90             0              84
  40  Potato          0.701          0.949          -1.516         0              270            0              49
  41  Pan             1.022          0.959          0.288          0              219.190        0              63
  42  DishSponge      -2.477         0.951          0.614          0              90             0              84
  43  Spoon           0.804          0.920          -1.649         0              0              0              49
  44  Mug             -2.135         1.487          -1.849         0              0              0              81
  45  Cabinet         -0.193         1.688          -1.648         0              180            0
  46  StoveBurner     1.360          0.957          0.293          0              180            0
  47  Drawer          0.499          0.792          0.296          0              0              0
  48  Cabinet         0.095          0.400          -1.352         0              180            0
  49  Sink            0.711          0.817          -1.772         0              270            0
  50  CounterTop      0.280          0.947          0.458          0              0              0
  51  CounterTop      -0.680         0.947          -1.654         0              0              0
  52  Drawer          1.825          0.792          0.296          0              0              0
  53  StoveBurner     1.007          0.957          0.561          0              270            0
  54  Drawer          -0.150         0.792          -1.496         0              0              0
  55  Drawer          -0.586         0.792          -1.496         0              0              0
  56  StoveBurner     1.360          0.957          0.561          0              270            0
  57  Drawer          0.024          0.792          0.296          0              0              0
  58  Cabinet         1.079          0.400          -1.349         0              180            0
  59  Cabinet         1.669          0.402          0.151          0              0              0
  60  Cabinet         0.055          0.402          -1.351         0              0              0
  61  Cabinet         -0.180         0.402          0.151          0              0              0
  62  Cabinet         0.729          0.402          0.151          0              0              0
  63  StoveBurner     1.007          0.957          0.293          0              180            0
  64  Drawer          -1.100         0.792          -1.496         0              0              0
  65  Cabinet         -0.396         0.402          -1.351         0              0              0
  66  CounterTop      1.776          0.947          0.458          0              0              0
  67  Cabinet         1.974          1.688          -1.648         0              180            0
  68  Cabinet         -0.820         0.400          -1.349         0              180            0
  69  Toaster         0.305          0.900          0.552          0              180            0
  70  LightSwitch     -2.756         1.307          -0.987         0              90             0
  71  Window          0.582          1.613          -1.967         90             0              0
  72  Window          1.969          1.5            -0.615         90             270            0
  73  Microwave       -1.037         0.900          -1.723         0              0              0
  74  SinkBasin       0.377          0.765          -1.655         0              270            0
  75  CoffeeMachine   0.618          0.900          0.600          0              180            0
  76  StoveKnob       1.246          0.913          0.118          45             180            0
  77  StoveKnob       1.373          0.913          0.118          45             180            0
  78  StoveKnob       0.995          0.913          0.118          45             180            0
  79  StoveKnob       1.126          0.913          0.118          45             180            0
  80  GarbageCan      -0.368         -0.029         0.539          0              90             0
  81  Fridge          -2.134         0.0            -1.690         0              0              0
  82  Faucet          0.549          1.046          -1.833         0              232.527        0
  83  Stool           -1.475         0.000          0.414          1.233          280.375        0
  84  DiningTable     -2.255         -0.004         0.432          0              0              0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: go to the counter where the coffee machine is | STEP 2: pick up the mup from the coffee machine | STEP 3: take the mug to the sink | STEP 4: rinse the mug in the sink | STEP 5: take the mug back to the coffee machine | STEP 6: put the mug under the machine | END