Task: wash a mug and fill with water

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           0.900          -0.75          0              90             0
   1  Potato          1.656          0.951          -1.631         0              90             0              43
   2  Potato          1.656          0.951          -1.374         0              90             0              43
   3  DishSponge      1.501          0.910          0.915          0              90             0              39
   4  Fork            1.101          0.760          -1.654         0              90             0              58
   5  Fork            1.451          0.911          0.467          0              90             0              39
   6  Spoon           0.989          0.911          0.827          0              90             0              39
   7  Egg             -0.692         1.424          -1.629         0              0              0              66
   8  Cup             1.917          0.908          0.467          0              90             0              39
   9  Cup             0.455          0.909          -1.263         0              90             0              43
  10  Plate           0.220          0.912          0.827          0              90             0              39
  11  Plate           -0.741         0.462          -1.412         0              0              0              66
  12  Tomato          -0.334         1.123          -1.382         0              0              0              66
  13  SaltShaker      0.553          0.906          -1.263         0              90             0              43
  14  SaltShaker      1.733          1.648          -0.401         0              0              0              50
  15  Mug             1.684          0.905          0.570          0              90             0              39
  16  Apple           1.739          0.127          1.588          0              270            0              57
  17  Plate           1.802          1.647          -0.000         0              0              0              49
  18  SoapBottle      1.736          1.637          0.375          0              0              0              48
  19  Cup             1.516          0.909          -1.288         0              90             0              43
  20  Egg             1.757          0.945          0.915          0              90             0              39
  21  Fork            1.529          0.911          0.570          0              0              0              39
  22  Ladle           1.805          1.679          -1.378         0              0              0              52
  23  Apple           1.796          0.968          -1.460         0              90             0              43
  24  SaltShaker      1.012          0.906          -1.230         0              90             0              43
  25  Pan             0.732          0.910          0.827          0              270            0              39
  26  Tomato          -0.790         0.814          -1.594         0              0              0              66
  27  Spatula         1.757          0.925          0.915          0              90             0              39
  28  Potato          0.579          0.9            0.938          0              315            0              39
  29  Knife           1.586          0.943          -1.802         0              180            0              43
  30  ButterKnife     0.296          0.9            -1.296         0              14.568         0              43
  31  Bread           1.615          0.977          0.761          0              50.525         0              39
  32  Lettuce         0.220          1.010          1.180          0              90             0              39
  33  PepperShaker    0.926          0.906          -1.264         0              90             0              43
  34  Pot             1.807          0.909          -0.320         0              180            0              41
  35  DishSponge      1.239          0.760          -1.544         0              0              0              58
  36  Spoon           1.684          0.911          0.415          0              90             0              39
  37  Bowl            1.805          1.631          -0.755         0              0              0              51
  38  Mug             1.757          0.905          1.180          0              90             0              39
  39  CounterTop      0.989          0.946          1.016          0              90             0
  40  StoveBurner     1.807          0.907          0.075          0              180            0
  41  StoveBurner     1.807          0.907          -0.320         0              180            0
  42  StoveBurner     1.543          0.907          -0.320         0              90             0
  43  CounterTop      0.989          0.946          -1.516         0              90             0
  44  Sink            1.100          0.906          -1.599         0              0              0
  45  StoveBurner     1.548          0.907          0.075          0              180            0
  46  Cabinet         1.658          2.299          1.313          0              0              0
  47  Cabinet         1.658          2.299          0.686          0              0              0
  48  Cabinet         1.658          2.049          0.673          0              0              0
  49  Cabinet         1.658          2.059          0.193          0              0              0
  50  Cabinet         1.658          2.059          -0.593         0              0              0
  51  Cabinet         1.658          2.049          -0.606         0              0              0
  52  Cabinet         1.658          2.049          -1.206         0              0              0
  53  Cabinet         1.658          2.049          -1.893         0              0              0
  54  Toaster         0.131          0.900          -1.589         0              0              0
  55  Window          -0.372         1.588          3.349          90             0              0
  56  Window          0.782          1.741          -1.893         90             0              0
  57  GarbageCan      1.770          -0.029         1.685          0              270            0
  58  SinkBasin       1.091          0.740          -1.599         0              0              0
  59  StoveKnob       1.364          0.821          0.086          48.421         270            0
  60  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  61  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  62  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  63  Microwave       1.752          0.900          -0.843         0              270            0
  64  LightSwitch     2.0            1.261          3.094          0              270            0
  65  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  66  Fridge          -0.533         0.0            -1.554         0              0              0
  67  Chair           1.068          0.000          1.752          0              191.622        0
  68  Faucet          1.110          1.138          -1.764         0              270            0
  69  Chair           0.357          0.000          1.710          0              178.899        0
  70  NorthWall
  71  EastWall
  72  SouthWall
  73  WestWall

Plan:
STEP 1: turn left go forward turn right to face the counter | STEP 2: pick up mug from counter | STEP 3: turn right move forward place mug in the sink right of the fork | STEP 4: fill the sink with water then fill  the mug with water  | STEP 5: turn right move forward to face the counter | STEP 6: place mug on the machine | END