Task: Putting a mug in the sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          -0.75          0              90             0
   1  Pan             1.691          0.929          -0.335         0              0              0              59
   2  Potato          -0.730         0.947          1.317          0              0              0              51
   3  DishSponge      1.674          0.910          -0.972         0              45             0              61
   4  DishSponge      -2.605         1.537          1.119          0              0              0              75
   5  Kettle          1.512          0.912          0.406          0              0              0              60
   6  Kettle          1.412          0.929          -0.335         0              0              0              52
   7  Fork            -0.211         0.911          0.423          0              0              0              51
   8  Egg             1.426          0.951          -1.096         0              225            0              65
   9  Egg             1.520          0.215          0.734          0              0              0              90
  10  Cup             1.407          0.916          -1.185         0              225            0              65
  11  Plate           -2.289         0.913          0.931          0              0              0              79
  12  Knife           -2.287         0.798          0.391          0              90             0              68
  13  Tomato          0.966          0.953          -1.585         0              45             0              61
  14  SoapBottle      -0.211         0.912          1.317          0              0              0              51
  15  SoapBottle      -2.455         0.912          1.530          0              0              0              79
  16  Bowl            -2.605         1.935          -0.409         0              0              0              73
  17  Bowl            -0.471         0.908          1.094          0              0              0              51
  18  PepperShaker    1.684          0.905          -0.726         0              0              0              61
  19  PepperShaker    -2.638         1.533          1.912          0              0              0              63
  20  SaltShaker      0.048          0.905          0.647          0              0              0              51
  21  Lettuce         -0.211         0.994          1.540          0              0              0              51
  22  Lettuce         -0.341         0.994          0.647          0              0              0              51
  23  Bread           -2.455         0.996          1.230          0              0              0              79
  24  Bread           -2.538         0.996          0.931          0              0              0              79
  25  Mug             -2.349         0.109          1.319          0              0              0              57
  26  Apple           -2.704         0.972          0.031          0              0              0              79
  27  Apple           -2.532         1.362          -0.790         0              90             0              83
  28  Pan             0.0            0.9            0.948          0              29.999         0              51
  29  Knife           1.256          0.945          -1.196         0              225            0              65
  30  Apple           1.687          0.246          0.651          0              0              0              90
  31  Bowl            1.771          1.653          0.018          0              0              0              70
  32  Fork            -0.081         0.911          1.540          0              0              0              51
  33  Bread           -0.341         0.996          0.423          0              0              0              51
  34  Plate           -2.372         0.913          0.631          0              0              0              79
  35  Egg             -2.621         0.941          0.331          0              0              0              79
  36  Kettle          -0.081         0.911          1.764          0              0              0              51
  37  Potato          -2.393         1.336          -0.696         0              90             0              83
  38  SaltShaker      1.662          1.658          -0.694         0              0              0              71
  39  Lettuce         -0.730         0.994          0.423          0              0              0              51
  40  Cup             -2.485         1.298          -0.602         0              90             0              83
  41  SoapBottle      0.048          0.912          0.423          0              0              0              51
  42  Spatula         -0.471         0.925          0.423          0              0              0              51
  43  PaperTowelRoll  0.048          1.015          1.764          0              180            0              51
  44  ButterKnife     1.770          0.910          -0.726         0              0              0              61
  45  PepperShaker    -2.241         0.109          0.437          0              0              0              76
  46  DishSponge      1.662          1.663          -0.407         0              0              0              71
  47  Pot             -2.311         0.105          0.895          0              270            0              77
  48  Spoon           -2.206         0.912          0.631          0              90             0              79
  49  Tomato          1.684          0.953          0.435          0              0              0              60
  50  Mug             0.464          0.955          -1.593         0              0              0              61
  51  CounterTop      -0.360         0.946          1.093          0              0              0
  52  StoveBurner     1.412          0.923          -0.335         0              0              0
  53  StoveKnob       1.878          1.093          0.018          287.989        90             0
  54  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  55  Cabinet         -2.446         1.948          2.924          0              0              0
  56  Drawer          -2.276         0.792          0.902          0              0              0
  57  Cabinet         -2.145         0.402          1.578          0              0              0
  58  Cabinet         0.149          2.008          -1.603         0              90             0
  59  StoveBurner     1.691          0.923          -0.335         0              0              0
  60  CounterTop      1.585          0.946          0.405          0              0              0
  61  CounterTop      0.474          0.946          -1.625         0              0              0
  62  StoveBurner     1.691          0.923          0.064          0              0              0
  63  Cabinet         -2.446         1.948          1.687          0              0              0
  64  Cabinet         -2.446         1.948          1.640          0              0              0
  65  Sink            1.381          0.810          -1.271         0              225            0
  66  StoveKnob       1.878          1.093          0.150          287.989        90             0
  67  Cabinet         -2.145         0.402          -0.236         0              0              0
  68  Drawer          -2.276         0.792          0.437          0              0              0
  69  Drawer          -2.276         0.792          -0.027         0              0              0
  70  Cabinet         1.572          2.008          0.474          0              0              0
  71  Cabinet         1.572          2.008          -0.775         0              0              0
  72  Cabinet         -2.445         2.148          -1.275         0              0              0
  73  Cabinet         -2.446         2.148          -0.284         0              0              0
  74  Cabinet         -2.446         1.948          0.355          0              0              0
  75  Cabinet         -2.446         1.948          0.405          0              0              0
  76  Cabinet         -2.145         0.402          0.644          0              0              0
  77  Cabinet         -2.145         0.402          0.695          0              0              0
  78  Cabinet         -2.285         1.968          -1.325         0              180            0
  79  CounterTop      -1.485         0.946          1.319          0              0              0
  80  StoveBurner     1.411          0.923          0.064          0              0              0
  81  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  82  Drawer          -2.276         0.792          1.368          0              0              0
  83  Fridge          -2.475         0.0            -0.782         0              90             0
  84  LightSwitch     -0.929         1.350          -1.950         0              0              0
  85  Toaster         -2.564         0.900          1.876          0              90             0
  86  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  87  Window          1.508          1.534          -1.496         90             135            0
  88  Window          1.973          1.521          1.121          90             90             0
  89  SinkBasin       1.149          0.753          -1.380         0              225            0
  90  GarbageCan      1.646          -0.000         0.679          0              0              0
  91  Microwave       -2.580         0.900          2.440          0              90             0
  92  Stool           0.439          0.010          0.747          0              0              0
  93  Stool           -2.303         0.010          1.839          0              0              0
  94  Faucet          1.235          1.138          -1.473         0              225            0
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: Head to the coffee maker on the right. | STEP 2: Grab that mug that is in the coffee maker | STEP 3: Turn right and head to the fridge. | STEP 4: Open the fridge and place the mug on the top rack. Close the fridge. Open the fridge and take the mug out. Close the fridge. | STEP 5: Turn around and head to the sink | STEP 6: Place the mug in the right sink | END