Task: Place a washed mug in the 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           -0.75          0.914          1.5            0              180            0
   1  ButterKnife     -3.463         0.915          1.440          0              0              0              56
   2  ButterKnife     -3.176         0.915          1.189          0              0              0              56
   3  WineBottle      -3.081         0.916          1.189          0              0              0              56
   4  WineBottle      -3.081         0.916          1.607          0              0              0              56
   5  Spatula         -1.391         0.906          0.152          0              0              0              83
   6  Spatula         -2.905         0.930          3.890          0              90             0              47
   7  Fork            -3.272         0.916          1.440          0              0              0              56
   8  Fork            -1.608         0.916          4.146          0              0              0              47
   9  Pot             -3.424         0.966          2.374          0              0              0              53
  10  Knife           -1.523         0.915          0.049          0              180            0              83
  11  Tomato          -2.126         0.984          4.062          0              0              0              47
  12  Tomato          -3.463         0.984          1.189          0              0              0              56
  13  SoapBottle      -3.458         1.994          1.835          0              0              0              61
  14  SoapBottle      -3.559         0.915          1.440          0              0              0              56
  15  Bowl            -3.537         1.545          2.172          0              90             0              78
  16  Bowl            -1.815         0.914          4.188          0              0              0              47
  17  SaltShaker      -2.410         0.077          3.508          0              0              0              58
  18  SaltShaker      -1.259         0.887          0.358          0              90             0              83
  19  PepperShaker    -1.439         0.911          3.783          0              0              0              47
  20  PepperShaker    -3.126         0.743          3.083          0              0              0              49
  21  Bread           -3.081         0.996          3.008          0              0              0              47
  22  Bread           -0.994         0.972          0.152          0              90             0              83
  23  Mug             -1.518         0.076          3.586          0              0              0              52
  24  Egg             -1.602         0.824          3.588          0              0              0              77
  25  Knife           -3.176         0.939          1.273          0              0              0              56
  26  Fork            -1.259         0.892          0.255          0              90             0              83
  27  Bread           -0.556         1.067          3.863          0              180            0              73
  28  Potato          -0.206         1.306          4.062          0              180            0              73
  29  Plate           -3.006         0.904          3.677          0              0              0              47
  30  Pot             -3.424         0.966          1.971          0              0              0              55
  31  Kettle          -3.148         0.966          2.374          0              0              0              50
  32  WineBottle      -1.192         0.088          3.756          0              270            0              79
  33  Bowl            -2.302         0.914          3.890          0              0              0              47
  34  Tomato          -0.089         1.610          4.067          0              180            0              73
  35  Cup             -3.463         0.915          1.607          0              0              0              56
  36  Spatula         -3.368         0.930          2.844          0              0              0              47
  37  SoapBottle      -1.655         0.891          0.358          0              90             0              83
  38  Lettuce         -1.759         0.974          0.085          0              0              0              83
  39  Pan             -2.614         0.902          3.620          0              0              0              47
  40  Apple           -1.391         0.951          0.358          0              90             0              83
  41  SaltShaker      -3.127         0.742          3.356          0              0              0              57
  42  PepperShaker    -3.156         0.077          2.752          0              0              0              60
  43  ButterKnife     -1.919         0.915          4.146          0              0              0              47
  44  DishSponge      -3.081         0.915          3.172          0              0              0              49
  45  Spoon           -1.921         0.790          3.662          0              0              0              77
  46  Mug             -3.424         0.945          3.275          0              90             0              47
  47  CounterTop      -3.381         0.950          3.335          0              0              0
  48  Drawer          -3.121         0.775          1.357          0              0              0
  49  Drawer          -3.121         0.777          2.916          0              0              0
  50  StoveBurner     -3.148         0.958          2.374          0              0              0
  51  Sink            -1.797         0.917          3.660          0              0              0
  52  Cabinet         -1.421         0.388          3.459          0              0              0
  53  StoveBurner     -3.424         0.958          2.374          0              0              0
  54  Cabinet         -3.365         1.931          2.676          0              0              0
  55  StoveBurner     -3.424         0.958          1.971          0              0              0
  56  CounterTop      -3.381         0.951          1.356          0              0              0
  57  Drawer          -3.121         0.781          3.295          0              0              0
  58  Cabinet         -2.205         0.388          3.459          0              0              0
  59  Cabinet         -2.963         0.388          3.459          0              0              0
  60  Cabinet         -2.992         0.388          2.683          0              0              0
  61  Cabinet         -3.352         2.205          1.715          0              0              0
  62  Cabinet         -3.352         2.205          2.653          0              0              0
  63  Cabinet         -2.189         0.388          3.466          0              0              0
  64  Cabinet         -3.365         1.931          3.963          0              0              0
  65  Cabinet         -3.365         1.931          1.056          0              0              0
  66  Cabinet         -2.992         0.388          1.037          0              0              0
  67  StoveBurner     -3.143         0.958          1.971          0              0              0
  68  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  69  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  70  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  71  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  72  Toaster         -2.654         0.902          4.064          0              180            0
  73  Fridge          -0.439         0.014          3.996          0              0              0
  74  LightSwitch     0.25           1.383          2.085          0              270            0
  75  Window          -1.430         1.338          -0.347         90             0              0
  76  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  77  SinkBasin       -1.802         0.778          3.700          0              0              0
  78  Microwave       -3.484         1.430          2.182          0              90             0
  79  GarbageCan      -1.184         -0.020         3.794          0              270            0
  80  Blinds          -1.404         2.092          -0.296         0              0              0
  81  Stool           -1.373         0.014          1.048          1.214          20.754         0
  82  Faucet          -1.788         0.903          3.931          270            90             0
  83  DiningTable     -1.399         0.010          0.238          0              0              0
  84  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Turn around, walk across the room to the fridge, turn left, take a few steps and turn right to face the coffee maker | STEP 2: Pick up the coffee mug from the coffee maker | STEP 3: Turn right and go to the sink | STEP 4: Put the mug into the sink, wash it, and pick it up | STEP 5: Go back to the coffee maker | STEP 6: Place the mug in the coffee maker | END