Task: Put a clean mug 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           0.25           0.900          2.5            0              0              0
   1  DishSponge      -2.581         1.848          2.346          0              0              0              50
   2  Spoon           0.668          0.693          2.496          0              90             0              37
   3  Fork            -0.524         0.901          1.143          0              90             0              81
   4  Egg             -0.524         0.936          1.555          0              90             0              81
   5  Egg             -1.309         0.733          3.857          0              0              0              75
   6  Plate           -1.307         1.687          3.897          0              0              0              68
   7  Plate           0.743          0.129          2.198          0              0              0              55
   8  Bowl            -1.717         0.126          3.675          0              0              0              62
   9  PepperShaker    1.099          0.819          0.984          0              0              0              40
  10  Mug             -2.645         1.602          2.165          0              90             0              72
  11  Apple           -1.317         0.961          1.246          0              90             0              81
  12  Plate           -2.786         1.402          3.897          0              0              0              54
  13  Fork            0.725          0.823          0.984          0              0              0              40
  14  Bread           0.827          0.861          2.449          0              0              0              40
  15  Spatula         -0.657         0.915          0.937          0              180            0              81
  16  PaperTowelRoll  -0.657         1.004          1.040          0              90             0              81
  17  Potato          -2.519         0.810          2.389          0              90             0              72
  18  SoapBottle      0.950          0.822          0.984          0              0              0              40
  19  Egg             -1.909         0.733          3.733          0              0              0              75
  20  Cup             1.099          0.822          0.850          0              0              0              40
  21  Pot             0.913          0.850          1.768          0              0              0              61
  22  SaltShaker      -0.593         0.155          3.810          0              0              0              49
  23  Pan             -2.667         0.812          3.74           0              137.145        0              63
  24  PepperShaker    -2.619         1.845          1.853          0              0              0              65
  25  ButterKnife     -0.921         0.900          1.349          0              90             0              81
  26  Tomato          -2.694         0.835          2.277          0              90             0              72
  27  DishSponge      0.931          0.023          2.918          0              0              0              74
  28  Lettuce         -0.580         0.956          1.358          31.822         0              0              81
  29  Spoon           -0.657         0.901          1.555          0              0              0              81
  30  Apple           -1.486         1.420          3.836          0              180            0              69
  31  Knife           -1.117         0.846          3.902          0              270            0              63
  32  Mug             -0.921         0.895          1.246          0              90             0              81
  33  Bowl            -2.851         0.821          3.331          0              0              0              63
  34  Drawer          0.729          0.703          2.199          0              0              0
  35  Cabinet         -1.962         1.926          3.733          0              0              0
  36  Cabinet         -2.377         2.014          1.058          0              0              0
  37  Drawer          0.729          0.703          2.532          0              0              0
  38  Cabinet         -2.622         1.925          3.733          0              0              0
  39  StoveBurner     0.913          0.843          1.375          0              0              0
  40  CounterTop      0.864          0.858          0.984          0              0              0
  41  Cabinet         -1.976         1.779          3.734          0              0              0
  42  Cabinet         0.580          0.385          0.819          0              0              0
  43  Cabinet         -2.379         1.408          1.677          0              0              0
  44  Cabinet         -0.419         1.703          3.736          0              0              0
  45  CounterTop      0.864          0.858          2.371          0              0              0
  46  Sink            -1.702         0.726          3.828          0              180            0
  47  Cabinet         0.580          0.385          2.694          0              0              0
  48  Cabinet         -2.379         0.637          1.677          0              0              0
  49  Cabinet         -0.419         0.674          3.736          0              0              0
  50  Cabinet         -2.377         2.014          2.558          0              0              0
  51  Drawer          0.729          0.703          0.980          0              0              0
  52  Drawer          -2.114         0.706          3.657          0              0              0
  53  Cabinet         -2.377         1.691          2.572          0              0              0
  54  Cabinet         -2.951         1.925          3.733          0              0              0
  55  Cabinet         0.580          0.385          2.360          0              0              0
  56  Cabinet         -2.426         0.435          3.421          0              0              0
  57  StoveBurner     0.642          0.843          1.375          0              0              0
  58  Cabinet         -2.377         1.927          1.686          0              0              0
  59  Cabinet         -2.377         2.013          3.177          0              0              0
  60  Cabinet         -1.136         0.385          3.516          0              0              0
  61  StoveBurner     0.913          0.843          1.768          0              0              0
  62  Cabinet         -1.974         0.385          3.516          0              0              0
  63  CounterTop      -2.081         0.858          3.799          0              0              0
  64  Cabinet         -2.426         0.435          3.174          0              0              0
  65  Cabinet         -2.377         2.014          1.693          0              0              0
  66  Cabinet         -1.986         0.385          3.511          0              0              0
  67  StoveBurner     0.642          0.843          1.768          0              0              0
  68  Cabinet         -1.098         1.926          3.729          0              0              0
  69  Microwave       -1.529         1.250          3.881          1.622          180            0
  70  CoffeeMachine   1.000          0.812          2.492          0              270            0
  71  LightSwitch     0.825          1.396          4.082          0              180            0
  72  Fridge          -2.642         0.0            2.134          0              180            0
  73  Window          -1.131         1.673          0.808          90             0              0
  74  GarbageCan      0.931          -0.000         2.918          0              0              0
  75  SinkBasin       -1.601         0.686          3.774          0              0              0
  76  StoveKnob       1.104          1.002          1.886          0              0              70.346
  77  StoveKnob       1.104          1.002          1.733          0              0              70.346
  78  StoveKnob       1.104          1.002          1.321          0              0              70.346
  79  StoveKnob       1.104          1.002          1.481          0              0              70.346
  80  Toaster         -2.247         0.812          3.862          0              180            0
  81  DiningTable     -0.917         -0.000         1.203          0              0              0
  82  Stool           -0.932         0.000          1.404          1.196          21.715         0
  83  Faucet          -1.842         0.809          3.984          0              180            0
  84  Faucet          -1.371         0.809          3.985          0              180            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Move to the table with the coffee machine. | STEP 2: Pick up the mug next to the coffee machine.  | STEP 3: Bring the mug to the sink. | STEP 4: Clean the mug in the sink. | STEP 5: Bring the mug to the coffee machine. | STEP 6: Put the mug in the coffee machine.  | END