Task: Put a clean coffee mug in a 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           2.75           0.930          1.25           0              90             0
   1  Potato          1.164          1.286          -1.475         0              0              0              107
   2  Ladle           1.098          0.945          0.180          0              0              0              92
   3  DishSponge      0.404          1.259          -1.741         0              0              0              77
   4  Kettle          -0.942         1.259          -0.836         0              45             0              80
   5  Kettle          3.031          1.465          -1.284         0              0              0              75
   6  Pot             -0.420         0.902          -0.920         0              135            0              56
   7  Spatula         3.373          0.915          0.104          0              270            0              60
   8  Spatula         0.608          0.925          0.337          0              216.810        0              92
   9  Spoon           -0.827         0.327          -0.011         0              0              0              66
  10  Fork            -0.827         0.326          0.751          0              0              0              62
  11  Fork            -0.868         0.518          0.489          0              0              0              58
  12  CellPhone       0.376          0.509          -1.515         0              0              0              47
  13  CellPhone       2.888          0.898          0.947          0              0              0              60
  14  Mug             -0.904         0.895          -0.928         0              45             0              61
  15  Apple           0.491          0.984          0.181          0              36.810         0              92
  16  Apple           -0.033         0.974          -1.291         0              45             0              82
  17  SaltShaker      2.966          0.897          -0.399         0              0              0              60
  18  SaltShaker      0.716          0.907          0.135          0              36.810         0              92
  19  PepperShaker    0.022          0.896          -1.731         0              0              0              82
  20  Egg             2.987          0.799          0.098          0              90             0              106
  21  Cup             -0.278         1.261          -1.556         0              45             0              78
  22  Plate           1.208          1.687          -1.550         0              0              0              52
  23  Glassbottle     3.244          1.465          -1.186         0              0              0              75
  24  SoapBottle      2.971          0.184          -0.828         0              0              0              73
  25  Potato          -1.052         1.036          1.311          0              90             0              109
  26  Fork            0.710          0.908          0.527          0              0              0              92
  27  Ladle           -0.935         0.937          0.399          0              0              0              61
  28  Pot             3.122          0.900          -0.798         0              270            0              60
  29  Kettle          3.212          1.265          -0.854         0              0              0              74
  30  Spatula         -0.950         0.721          0.751          0              90             0              65
  31  Knife           3.412          0.926          0.232          0              90             0              60
  32  Lettuce         0.445          0.973          0.727          0              0              0              92
  33  Cup             1.164          0.709          -1.407         0              0              0              107
  34  SaltShaker      -1.080         0.896          0.176          0              0              0              61
  35  Egg             3.155          0.153          1.519          0              225            0              102
  36  PepperShaker    2.971          0.172          -0.660         0              0              0              73
  37  ButterKnife     0.897          0.908          0.608          0              36.810         0              92
  38  Apple           1.008          1.321          -1.475         0              0              0              107
  39  Pan             0.341          0.873          -1.649         0              167.065        0              82
  40  Bread           1.534          0.972          0.486          0              289.287        0              92
  41  CellPhone       0.101          0.897          -1.373         0              0              0              82
  42  DishSponge      -0.187         0.899          -1.445         0              45             0              82
  43  Tomato          2.987          0.784          -0.100         0              270            0              106
  44  Spoon           0.095          0.901          -1.625         0              135            0              82
  45  Bowl            -0.675         0.897          -0.753         0              45             0              61
  46  Mug             3.049          0.966          0.591          0              270            0              104
  47  Drawer          0.376          0.572          -1.509         0              0              0
  48  Drawer          3.020          0.769          -0.783         0              180            0
  49  Drawer          -0.860         0.577          1.429          0              0              0
  50  StoveBurner     -0.600         0.897          -1.090         0              135            0
  51  Drawer          0.376          0.191          -1.509         0              0              0
  52  Cabinet         1.402          1.874          -1.259         0              0              0
  53  Cabinet         -0.202         1.963          -1.328         0              0              0
  54  Drawer          -0.860         0.765          1.429          0              0              0
  55  Drawer          -0.677         0.765          -0.700         0              0              0
  56  StoveBurner     -0.420         0.897          -0.920         0              135            0
  57  Drawer          3.020          0.769          -0.407         0              180            0
  58  Drawer          -0.860         0.577          0.663          0              0              0
  59  Cabinet         2.819          1.768          -1.850         0              0              0
  60  CounterTop      3.111          0.936          0.019          0              0              0
  61  CounterTop      -1.007         0.935          -0.039         0              0              0
  62  Drawer          -0.860         0.385          0.663          0              0              0
  63  StoveBurner     -0.419         0.897          -1.269         0              315            0
  64  Drawer          -0.047         0.573          -1.324         0              0              0
  65  Drawer          -0.860         0.765          0.663          0              0              0
  66  Drawer          -0.860         0.385          -0.100         0              0              0
  67  Drawer          0.376          0.380          -1.509         0              0              0
  68  Drawer          -0.860         0.765          -0.100         0              0              0
  69  Drawer          0.376          0.765          -1.509         0              0              0
  70  Cabinet         2.849          0.419          0.409          0              0              0
  71  Drawer          -0.047         0.765          -1.324         0              0              0
  72  Cabinet         2.849          0.419          -0.610         0              0              0
  73  Cabinet         2.849          0.419          -0.959         0              0              0
  74  Cabinet         3.069          1.666          -0.709         0              0              0
  75  Cabinet         2.819          1.768          -1.047         0              0              0
  76  Cabinet         0.620          1.874          -1.259         0              0              0
  77  Cabinet         0.140          1.666          -1.559         0              0              0
  78  Cabinet         -0.189         1.666          -1.340         0              0              0
  79  Cabinet         -0.709         1.963          -0.819         0              0              0
  80  Cabinet         -0.920         1.665          -0.620         0              0              0
  81  Drawer          -0.860         0.190          -0.100         0              0              0
  82  CounterTop      0.133          0.935          -1.457         0              0              0
  83  Drawer          3.020          0.769          0.695          0              180            0
  84  Drawer          -0.677         0.577          -0.700         0              0              0
  85  Drawer          -0.860         0.190          1.429          0              0              0
  86  Drawer          -0.047         0.192          -1.324         0              0              0
  87  Drawer          -0.677         0.193          -0.700         0              0              0
  88  Drawer          -0.860         0.577          -0.100         0              0              0
  89  Sink            3.078          0.887          0.086          0              0              0
  90  StoveBurner     -0.239         0.897          -1.089         0              315            0
  91  Drawer          -0.860         0.190          0.663          0              0              0
  92  CounterTop      1.210          0.937          0.463          0              0              0
  93  Drawer          -0.047         0.381          -1.324         0              0              0
  94  Drawer          -0.677         0.387          -0.700         0              0              0
  95  Mirror          -1.295         1.630          0.045          0              0              0
  96  Drawer          -0.860         0.385          1.429          0              0              0
  97  HousePlant      3.196          0.891          -0.368         0              0              0
  98  StoveKnob       -0.090         0.790          -1.009         270            45             0
  99  StoveKnob       -0.280         0.790          -0.819         270            45             0
 100  StoveKnob       -0.180         0.790          -0.920         270            45             0
 101  StoveKnob       -0.370         0.790          -0.720         270            45             0
 102  GarbageCan      3.137          0.025          1.545          0              225            0
 103  Window          3.703          1.675          0.046          90             90             0
 104  CoffeeMachine   3.214          0.890          0.697          0              270            0
 105  LightSwitch     2.592          1.309          -1.880         0              0              0
 106  SinkBasin       3.069          0.736          0.108          0              90             0
 107  Fridge          1.008          0.029          -1.467         0              0              0
 108  Toaster         -1.035         0.873          -0.396         0              90             0
 109  Microwave       -1.034         0.874          1.428          0              90             0
 110  Faucet          3.305          0.886          0.094          270            180            0
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: Turn around and walk forward, then hang a left and walk over to the coffee machine on the counter. | STEP 2: Pick up the dirty mug out of the coffee machine. | STEP 3: Turn right and walk forward, then turn left to face the sink. | STEP 4: Wash the dirty mug in the sink and then pick it back up. | STEP 5: Turn left and walk forward, then turn right to face the coffee machine on the counter. | STEP 6: Put the clean coffee mug into the coffee machine on the counter. | END