Task: place a clean 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           -1.0           0.899          6.0            0              0              0
   1  Pencil          -3.510         0.745          5.162          0              180            0              63
   2  Potato          -4.26          0.956          4.900          0              90             0              72
   3  ButterKnife     -0.488         0.925          5.603          0              0              0              57
   4  WineBottle      -3.475         0.083          2.004          0              0              0              47
   5  Fork            -0.488         0.925          6.261          0              0              0              57
   6  Fork            -4.233         0.791          3.097          0              180            0              104
   7  Spoon           -2.026         0.924          2.026          0              0              0              54
   8  Spatula         -4.478         0.938          3.548          0              90             0              72
   9  Spatula         -0.181         0.940          5.932          0              90             0              57
  10  Egg             -0.301         1.721          3.733          0              270            0              105
  11  Tomato          -0.218         1.392          3.355          0              270            0              105
  12  Tomato          -0.301         1.637          3.349          0              270            0              105
  13  SaltShaker      -0.565         0.921          6.591          0              0              0              57
  14  SaltShaker      -4.242         0.919          2.416          0              0              0              72
  15  PepperShaker    -3.798         0.742          1.926          0              0              0              49
  16  PepperShaker    -4.335         0.919          5.159          0              90             0              72
  17  Lettuce         -4.204         1.018          1.951          0              180            0              72
  18  Lettuce         -3.494         1.018          5.412          0              90             0              72
  19  Mug             -4.497         0.918          3.082          0              270            0              72
  20  Apple           -4.032         0.976          2.183          0              0              0              72
  21  Apple           -3.639         0.122          6.375          0              270            0              98
  22  Egg             -2.583         1.582          1.601          0              0              0              102
  23  Apple           -2.740         1.599          1.601          0              0              0              102
  24  Knife           -2.109         0.953          1.648          0              90             0              54
  25  Potato          -1.610         0.956          1.724          0              0              0              54
  26  Fork            -0.258         0.925          4.615          0              0              0              57
  27  Bowl            -0.295         1.067          3.479          0              270            0              105
  28  Plate           -3.255         0.924          5.412          0              90             0              72
  29  Lettuce         -0.295         1.165          3.726          0              270            0              105
  30  Bread           -0.411         1.004          5.932          0              0              0              57
  31  Tomato          -4.159         0.848          3.285          0              270            0              104
  32  WineBottle      -1.943         0.924          1.648          0              0              0              54
  33  Spatula         -1.860         0.938          1.724          0              0              0              54
  34  PaperTowelRoll  -1.777         1.027          1.573          0              0              0              54
  35  Cup             -3.925         1.457          5.475          0              90             0              76
  36  Pencil          -0.181         0.925          4.944          0              0              0              57
  37  Pan             -2.467         0.930          2.012          0              0              0              60
  38  Pot             -2.924         0.930          1.712          0              180            0              69
  39  SaltShaker      -0.532         0.742          4.849          0              270            0              62
  40  SoapBottle      -4.102         0.923          2.649          0              0              0              72
  41  PepperShaker    -3.827         0.743          2.015          0              0              0              49
  42  ButterKnife     -3.374         0.923          5.489          0              90             0              72
  43  DishSponge      -1.693         0.923          1.951          0              0              0              54
  44  Spoon           -4.233         0.792          3.410          0              270            0              104
  45  Mug             -0.409         0.955          6.557          0              270            0              93
  46  Cabinet         -3.203         1.931          1.777          0              0              0
  47  Cabinet         -3.187         0.390          2.089          0              0              0
  48  Cabinet         -0.637         0.387          6.882          0              180            0
  49  Drawer          -3.797         0.781          1.961          0              0              0
  50  Cabinet         -3.036         0.387          5.029          0              90             0
  51  Drawer          -0.509         0.775          5.268          0              270            0
  52  Drawer          -4.125         0.798          2.499          0              0              0
  53  Cabinet         -0.331         2.249          4.308          0              180            0
  54  CounterTop      -1.872         0.958          1.799          0              0              0
  55  StoveBurner     -2.924         0.924          2.012          0              0              0
  56  Cabinet         -0.331         2.249          6.806          0              180            0
  57  CounterTop      -0.345         0.960          5.603          0              0              0
  58  Cabinet         -3.039         1.935          5.321          0              90             0
  59  Cabinet         -3.922         0.397          2.088          0              0              0
  60  StoveBurner     -2.467         0.924          2.012          0              0              0
  61  Cabinet         -0.331         2.249          5.505          0              180            0
  62  Drawer          -0.509         0.775          4.617          0              270            0
  63  Drawer          -3.509         0.777          5.157          0              180            0
  64  Cabinet         -3.961         0.388          2.878          0              0              0
  65  Cabinet         -3.961         0.388          4.342          0              0              0
  66  Cabinet         -0.637         0.387          5.582          0              180            0
  67  Cabinet         -0.637         0.388          4.299          0              180            0
  68  Cabinet         -0.637         0.388          5.599          0              180            0
  69  StoveBurner     -2.924         0.924          1.712          0              180            0
  70  Drawer          -1.859         0.775          1.961          0              0              0
  71  Cabinet         -0.331         2.249          5.609          0              180            0
  72  CounterTop      -4.260         0.958          4.943          0              90             0
  73  Cabinet         -4.284         1.931          2.226          0              0              0
  74  Cabinet         -0.331         2.249          3.010          0              180            0
  75  Drawer          -3.801         0.777          5.157          0              180            0
  76  Cabinet         -4.112         1.935          5.321          0              90             0
  77  Cabinet         -3.968         0.388          3.662          0              0              0
  78  Drawer          -3.418         0.777          1.961          0              0              0
  79  Drawer          -4.090         0.777          4.661          0              90             0
  80  Faucet          -4.441         0.909          3.288          270            0              0
  81  Cabinet         -0.331         2.249          4.207          0              180            0
  82  Cabinet         -3.961         0.388          2.119          0              0              0
  83  Drawer          -0.509         0.775          5.920          0              270            0
  84  Drawer          -3.193         0.777          5.157          0              180            0
  85  Cabinet         -3.968         0.388          2.894          0              0              0
  86  Cabinet         -3.667         0.387          5.029          0              90             0
  87  StoveBurner     -2.469         0.924          1.712          0              270            0
  88  Cabinet         -1.539         0.388          2.090          0              0              0
  89  Sink            -4.190         0.921          3.279          0              0              0
  90  Cabinet         -3.641         0.387          5.029          0              90             0
  91  Cabinet         -1.583         1.931          1.777          0              0              0
  92  Drawer          -0.509         0.775          6.568          0              270            0
  93  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  94  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  95  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  96  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  97  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  98  GarbageCan      -3.711         -0.030         6.376          0              270            0
  99  Toaster         -3.578         0.912          1.763          0              0              0
 100  Curtains        -4.522         2.252          3.391          90             90             0
 101  Window          -4.868         1.629          3.309          90             270            0
 102  Microwave       -2.693         1.430          1.689          0              0              0
 103  LightSwitch     -1.588         1.169          1.506          0              0              0
 104  SinkBasin       -4.196         0.780          3.276          0              270            0
 105  Fridge          -0.324         -0.001         3.602          0              0              0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: turn right and head towards the coffee maker | STEP 2: pick up the mug from the coffee maker | STEP 3: turn around and head for the sink | STEP 4: rinse the mug in the sink | STEP 5: turn around and head back to the coffee maker | STEP 6: place the mug in the coffee maker | END