Task: Place a clean cup in a coffee maker.

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          0.930          0.0            0              270            0
   1  Pan             3.031          1.464          -1.235         0              270            0              81
   2  Ladle           -1.008         0.937          0.399          0              0              0              67
   3  Ladle           1.229          0.945          0.464          0              90             0              98
   4  DishSponge      0.330          0.511          -1.434         0              0              0              53
   5  DishSponge      -0.786         0.130          -0.011         0              0              0              87
   6  ButterKnife     0.798          0.908          0.727          0              0              0              98
   7  ButterKnife     3.07           0.753          0.098          0              90             0              112
   8  Glassbottle     3.070          0.748          0.231          0              90             0              112
   9  Kettle          3.140          0.178          0.559          0              0              0              76
  10  Pot             1.491          0.908          0.464          0              180            0              98
  11  Fork            1.229          0.908          0.747          0              0              0              98
  12  Fork            -0.857         0.900          -0.671         0              135            0              67
  13  CellPhone       3.277          0.898          -0.698         0              0              0              66
  14  CellPhone       0.468          0.702          -1.434         0              0              0              75
  15  Mug             -0.985         0.992          1.417          0              90             0              115
  16  Apple           0.851          1.321          -1.475         0              0              0              113
  17  Apple           3.262          0.174          1.626          0              225            0              108
  18  Lettuce         1.098          0.973          0.747          0              0              0              98
  19  Lettuce         -0.717         0.965          0.399          0              0              0              67
  20  PepperShaker    2.907          1.460          -1.648         0              0              0              65
  21  Bowl            0.304          1.256          -1.707         0              0              0              83
  22  Bowl            0.895          0.905          0.489          0              36.810         0              98
  23  SoapBottle      0.808          1.683          -1.759         0              0              0              82
  24  Egg             3.393          0.953          -0.023         0              0              0              66
  25  Egg             1.086          0.766          -1.407         0              0              0              113
  26  Knife           -0.862         0.925          -0.270         0              180            0              67
  27  Knife           0.716          0.933          0.135          0              36.810         0              98
  28  Plate           -0.953         0.886          0.699          0              0              0              67
  29  Glassbottle     0.728          0.911          0.613          0              36.810         0              98
  30  SoapBottle      3.198          0.184          -0.404         0              0              0              78
  31  Potato          -0.197         0.938          -1.640         0              45             0              88
  32  Fork            -1.008         0.900          0.176          0              0              0              67
  33  Ladle           -0.991         0.168          1.255          0              90             0              91
  34  Pot             0.423          0.900          0.869          0              0              0              98
  35  Kettle          0.856          1.675          -1.410         0              0              0              82
  36  Spatula         -0.862         0.915          0.399          0              0              0              28
  37  Knife           -0.991         0.352          0.489          0              90             0              68
  38  Lettuce         -0.675         0.965          -0.753         0              45             0              67
  39  Cup             3.084          0.175          0.841          0              0              0              76
  40  SaltShaker      -0.660         0.130          -0.729         0              45             0              93
  41  Egg             -0.960         0.952          -0.774         0              45             0              67
  42  PepperShaker    3.355          0.897          -0.897         0              0              0              66
  43  ButterKnife     0.059          0.900          -1.383         0              45             0              88
  44  Apple           -1.085         1.071          1.311          0              90             0              115
  45  Pan             -0.419         0.902          -1.269         0              315            0              69
  46  Bread           0.533          0.989          0.426          0              0              0              98
  47  CellPhone       -0.868         0.323          0.576          0              0              0              68
  48  DishSponge      -0.868         0.130          1.343          0              0              0              91
  49  Tomato          0.851          0.750          -1.459         0              0              0              113
  50  Spoon           0.179          0.901          -1.731         0              0              0              88
  51  Bowl            3.044          0.897          -0.798         0              0              0              66
  52  Mug             3.049          0.966          0.591          0              270            0              110
  53  Drawer          0.376          0.572          -1.509         0              0              0
  54  Drawer          3.020          0.769          -0.783         0              180            0
  55  Drawer          -0.860         0.577          1.429          0              0              0
  56  StoveBurner     -0.600         0.897          -1.090         0              135            0
  57  Drawer          0.376          0.191          -1.509         0              0              0
  58  Cabinet         1.402          1.874          -1.259         0              0              0
  59  Cabinet         -0.202         1.963          -1.328         0              0              0
  60  Drawer          -0.860         0.765          1.429          0              0              0
  61  Drawer          -0.677         0.765          -0.700         0              0              0
  62  StoveBurner     -0.420         0.897          -0.920         0              135            0
  63  Drawer          3.020          0.769          -0.407         0              180            0
  64  Drawer          -0.860         0.577          0.663          0              0              0
  65  Cabinet         2.819          1.768          -1.850         0              0              0
  66  CounterTop      3.111          0.936          0.019          0              0              0
  67  CounterTop      -1.007         0.935          -0.039         0              0              0
  68  Drawer          -0.860         0.385          0.663          0              0              0
  69  StoveBurner     -0.419         0.897          -1.269         0              315            0
  70  Drawer          -0.047         0.573          -1.324         0              0              0
  71  Drawer          -0.860         0.765          0.663          0              0              0
  72  Drawer          -0.860         0.385          -0.100         0              0              0
  73  Drawer          0.376          0.380          -1.509         0              0              0
  74  Drawer          -0.860         0.765          -0.100         0              0              0
  75  Drawer          0.376          0.765          -1.509         0              0              0
  76  Cabinet         2.849          0.419          0.409          0              0              0
  77  Drawer          -0.047         0.765          -1.324         0              0              0
  78  Cabinet         2.849          0.419          -0.610         0              0              0
  79  Cabinet         2.849          0.419          -0.959         0              0              0
  80  Cabinet         3.069          1.666          -0.709         0              0              0
  81  Cabinet         2.819          1.768          -1.047         0              0              0
  82  Cabinet         0.620          1.874          -1.259         0              0              0
  83  Cabinet         0.140          1.666          -1.559         0              0              0
  84  Cabinet         -0.189         1.666          -1.340         0              0              0
  85  Cabinet         -0.709         1.963          -0.819         0              0              0
  86  Cabinet         -0.920         1.665          -0.620         0              0              0
  87  Drawer          -0.860         0.190          -0.100         0              0              0
  88  CounterTop      0.133          0.935          -1.457         0              0              0
  89  Drawer          3.020          0.769          0.695          0              180            0
  90  Drawer          -0.677         0.577          -0.700         0              0              0
  91  Drawer          -0.860         0.190          1.429          0              0              0
  92  Drawer          -0.047         0.192          -1.324         0              0              0
  93  Drawer          -0.677         0.193          -0.700         0              0              0
  94  Drawer          -0.860         0.577          -0.100         0              0              0
  95  Sink            3.078          0.887          0.086          0              0              0
  96  StoveBurner     -0.239         0.897          -1.089         0              315            0
  97  Drawer          -0.860         0.190          0.663          0              0              0
  98  CounterTop      1.210          0.937          0.463          0              0              0
  99  Drawer          -0.047         0.381          -1.324         0              0              0
 100  Drawer          -0.677         0.387          -0.700         0              0              0
 101  Mirror          -1.295         1.630          0.045          0              0              0
 102  Drawer          -0.860         0.385          1.429          0              0              0
 103  HousePlant      3.196          0.891          -0.368         0              0              0
 104  StoveKnob       -0.090         0.790          -1.009         270            45             0
 105  StoveKnob       -0.280         0.790          -0.819         270            45             0
 106  StoveKnob       -0.180         0.790          -0.920         270            45             0
 107  StoveKnob       -0.370         0.790          -0.720         270            45             0
 108  GarbageCan      3.137          0.025          1.545          0              225            0
 109  Window          3.703          1.675          0.046          90             90             0
 110  CoffeeMachine   3.214          0.890          0.697          0              270            0
 111  LightSwitch     2.592          1.309          -1.880         0              0              0
 112  SinkBasin       3.069          0.736          0.108          0              90             0
 113  Fridge          1.008          0.029          -1.467         0              0              0
 114  Toaster         -1.035         0.873          -0.396         0              90             0
 115  Microwave       -1.034         0.874          1.428          0              90             0
 116  Faucet          3.305          0.886          0.094          270            180            0
 117  NorthWall
 118  EastWall
 119  SouthWall
 120  WestWall

Plan:
STEP 1: Turn right and walk around the kitchen island, then veer left to the coffee maker on the counter to the left of the sink. | STEP 2: Take the mug out of the coffee maker. | STEP 3: Take a step right. | STEP 4: Wash the mug in the sink. | STEP 5: Take a step left. | STEP 6: Place the mug back in the coffee maker. | END