Task: Wash a mug to put it back on the 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           0.25           0.900          3.75           0              270            0
   1  Potato          1.332          0.925          2.034          0              90             0              88
   2  ButterKnife     -0.158         0.760          6.541          0              270            0              101
   3  ButterKnife     1.493          0.992          0.213          0              0              0              65
   4  Kettle          1.499          1.577          4.694          0              0              0              69
   5  Pot             1.317          0.988          4.294          0              0              0              60
   6  Spoon           -0.413         0.772          0.563          0              0              0              61
   7  Spatula         -0.278         0.786          0.451          0              90             0              61
   8  Spatula         -0.034         0.775          6.787          0              90             0              101
   9  Fork            0.328          0.772          0.618          0              270            0              62
  10  Fork            -0.443         0.760          6.851          0              135            0              101
  11  Egg             0.064          1.147          0.310          0              0              0              81
  12  Egg             -0.357         0.810          6.500          0              135            0              101
  13  Cup             2.137          1.511          5.876          0              270            0              87
  14  Plate           0.745          0.144          0.418          0              0              0              71
  15  Plate           1.238          0.141          3.291          0              0              0              76
  16  Knife           -0.384         1.022          0.670          0              0              0              65
  17  Knife           -0.345         0.802          0.563          0              270            0              61
  18  Tomato          1.442          0.940          2.137          0              90             0              88
  19  Tomato          2.051          1.565          6.001          0              270            0              87
  20  SoapBottle      -0.289         0.760          6.786          0              135            0              101
  21  SoapBottle      -0.134         1.579          0.119          0              0              0              78
  22  PepperShaker    0.193          0.139          0.429          0              0              0              74
  23  PepperShaker    0.380          1.574          0.251          0              0              0              79
  24  SaltShaker      1.573          0.135          2.233          0              0              0              54
  25  Lettuce         0.305          0.848          6.604          0              270            0              101
  26  Mug             1.384          1.043          0.847          0              270            0              65
  27  Mug             1.587          1.572          1.288          0              0              0              65
  28  Mug             -0.422         0.755          6.653          0              135            0              101
  29  Apple           2.137          1.590          5.626          0              270            0              87
  30  Bowl            0.079          0.759          6.063          0              135            0              101
  31  Bread           1.099          1.048          0.434          0              0              0              65
  32  Egg             0.696          1.042          0.670          0              0              0              65
  33  Knife           0.056          0.801          0.451          0              90             0              62
  34  Fork            -0.221         0.760          6.169          0              0              0              101
  35  Apple           1.907          0.155          6.409          0              0              0              89
  36  Kettle          1.562          0.988          3.848          0              0              0              59
  37  Plate           1.490          0.141          2.498          0              0              0              77
  38  SaltShaker      1.403          0.987          0.213          0              0              0              65
  39  Lettuce         -0.459         1.081          0.303          0              90             0              65
  40  SoapBottle      0.213          0.760          6.763          0              225            0              101
  41  Spatula         -0.621         0.775          6.479          0              270            0              101
  42  PaperTowelRoll  1.135          1.096          4.853          0              0              0              66
  43  Pot             1.559          0.988          4.294          0              0              0              63
  44  Potato          -0.442         0.794          6.107          0              135            0              101
  45  ButterKnife     0.668          0.772          0.563          0              0              0              57
  46  PepperShaker    -0.275         0.139          0.201          0              0              0              73
  47  Pan             1.313          0.985          4.284          0              0              0              60
  48  Tomato          1.956          0.130          6.528          0              0              0              89
  49  DishSponge      -0.690         0.143          0.582          0              0              0              73
  50  Cup             1.406          0.136          1.864          0              0              0              54
  51  Spoon           -0.617         0.772          0.395          0              0              0              61
  52  Mug             -0.034         0.755          6.632          0              0              0              101
  53  Cabinet         1.307          2.455          4.360          0              0              0
  54  Cabinet         1.054          0.422          1.710          0              0              0
  55  Drawer          1.280          0.808          4.718          0              0              0
  56  Cabinet         1.307          2.455          3.607          0              0              0
  57  Drawer          0.736          0.802          0.521          0              0              0
  58  Drawer          1.276          0.802          3.291          0              0              0
  59  StoveBurner     1.562          0.982          3.848          0              0              0
  60  StoveBurner     1.317          0.982          4.294          0              0              0
  61  Drawer          -0.482         0.802          0.521          0              0              0
  62  Drawer          0.124          0.802          0.521          0              0              0
  63  StoveBurner     1.559          0.982          4.294          0              0              0
  64  StoveBurner     1.320          0.982          3.848          0              0              0
  65  CounterTop      1.391          1.028          0.897          0              0              0
  66  CounterTop      1.391          1.028          4.716          0              0              0
  67  Cabinet         1.054          0.422          4.548          0              0              0
  68  Cabinet         1.317          2.134          0.517          0              0              0
  69  Cabinet         1.317          2.134          4.889          0              0              0
  70  Cabinet         1.317          2.134          3.095          0              0              0
  71  Cabinet         0.443          0.422          0.743          0              0              0
  72  Cabinet         1.270          2.134          0.434          0              0              0
  73  Cabinet         -0.775         0.422          0.743          0              0              0
  74  Cabinet         -0.168         0.422          0.743          0              0              0
  75  Cabinet         1.317          2.134          1.534          0              0              0
  76  Cabinet         1.054          0.422          2.990          0              0              0
  77  Cabinet         1.054          0.422          2.944          0              0              0
  78  Cabinet         -0.263         2.134          0.434          0              0              0
  79  Cabinet         0.252          2.134          0.434          0              0              0
  80  Sink            1.391          1.006          2.326          0              0              0
  81  Microwave       0.108          0.981          0.262          0              0              0
  82  HousePlant      -0.165         0.826          6.444          0              0              0
  83  CoffeeMachine   1.551          0.982          0.953          0              270            0
  84  Toaster         1.473          0.981          4.715          0              270            0
  85  Window          -2.065         1.916          3.626          90             90             0
  86  Window          1.763          2.007          2.299          90             270            0
  87  Fridge          2.035          0.0            5.625          0              0              0
  88  SinkBasin       1.387          0.880          2.338          0              90             0
  89  GarbageCan      2.001          -0.044         6.503          0              0              0
  90  StoveKnob       1.140          0.934          3.987          45             270            0
  91  StoveKnob       1.140          0.934          4.309          45             270            0
  92  StoveKnob       1.140          0.934          4.140          45             270            0
  93  StoveKnob       1.140          0.934          3.824          45             270            0
  94  Vase            -0.226         0.834          6.993          0              0              0
  95  Vase            2.098          0.043          7.070          0              257.232        0
  96  Vase            -0.594         0.835          6.130          0              225            0
  97  LightSwitch     -2.0           1.549          6.045          0              90             0
  98  Safe            2.046          1.072          7.054          0              257.232        0
  99  Faucet          1.534          1.025          2.371          0              294.391        0
 100  Blinds          1.738          2.563          2.312          0              90             0
 101  DiningTable     -0.156         0.000          6.474          0              0              0
 102  Chair           0.291          0.002          6.142          0              310.162        0
 103  GarbageBag      -1.092         0.318          0.268          270            90             83.492
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Make a right around the countertop to walk to the coffee machine. | STEP 2: Pick up the mug from the coffee machine. | STEP 3: Turn to walk to the sink. | STEP 4: Wash the mug in the sink, removing it afterwards. | STEP 5: Turn to face the coffee machine. | STEP 6: Put the mug back on the coffee machine. | END