Task: Putting 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           1.25           0.900          -0.5           0              180            0
   1  Kettle          -2.203         0.953          0.614          0              270            0              82
   2  Potato          0.908          0.949          -1.582         0              270            0              47
   3  DishSponge      -2.203         0.951          0.255          0              90             0              82
   4  DishSponge      0.071          0.773          0.273          0              0              0              55
   5  ButterKnife     -2.340         0.952          0.524          0              90             0              82
   6  Fork            0.035          0.912          0.458          0              180            0              48
   7  Spatula         1.781          0.927          -1.820         0              0              0              49
   8  Spatula         -1.928         0.967          0.255          0              180            0              82
   9  Egg             0.649          0.954          -1.649         0              270            0              47
  10  Knife           -0.359         0.937          -1.654         0              0              0              49
  11  Tomato          -2.477         1.001          0.165          0              90             0              82
  12  Tomato          -0.394         0.119          0.439          0              90             0              78
  13  Bowl            -2.135         0.780          -1.720         0              0              0              79
  14  PepperShaker    -2.065         0.948          0.704          0              90             0              82
  15  Bread           1.846          0.995          0.540          0              0              0              64
  16  Lettuce         1.846          1.002          0.292          0              0              0              64
  17  Mug             -1.791         0.947          0.524          0              90             0              82
  18  Mug             -0.975         1.010          -1.803         0              90             0              71
  19  Apple           -1.079         1.082          -1.704         0              0              0              71
  20  Bread           -0.096         0.995          0.458          0              0              0              48
  21  Knife           -2.340         0.977          0.255          0              90             0              82
  22  Fork            0.960          0.920          -1.649         0              90             0              47
  23  Bowl            1.792          0.107          0.274          0              0              0              57
  24  Kettle          1.007          0.962          0.561          0              270            0              51
  25  Cup             0.856          0.917          -1.449         0              270            0              47
  26  Tomato          -2.614         1.001          0.524          0              90             0              82
  27  SoapBottle      -0.045         0.109          -1.582         0              0              0              58
  28  Plate           0.445          0.111          0.308          0              0              0              60
  29  Pot             1.361          0.962          0.561          0              270            0              54
  30  Spatula         1.601          0.927          0.292          0              90             0              64
  31  PaperTowelRoll  -1.928         1.056          0.704          0              90             0              82
  32  Egg             -0.296         0.105          0.526          0              90             0              78
  33  Lettuce         -2.135         0.601          -1.763         0              0              0              79
  34  SaltShaker      -2.203         0.948          0.165          0              90             0              82
  35  PepperShaker    -1.791         0.948          0.165          0              90             0              82
  36  Apple           -0.427         0.137          0.569          0              90             0              78
  37  ButterKnife     0.167          0.912          0.292          0              0              0              48
  38  Potato          -2.477         0.982          0.614          0              90             0              82
  39  Pan             -2.31          1.051          -1.763         0              270            0              79
  40  DishSponge      -0.632         0.773          -1.473         0              0              0              53
  41  Spoon           0.649          0.920          -1.582         0              270            0              47
  42  Mug             -2.065         0.947          0.345          0              90             0              82
  43  Cabinet         -0.193         1.688          -1.648         0              180            0
  44  StoveBurner     1.360          0.957          0.293          0              180            0
  45  Drawer          0.499          0.792          0.296          0              0              0
  46  Cabinet         0.095          0.400          -1.352         0              180            0
  47  Sink            0.711          0.817          -1.772         0              270            0
  48  CounterTop      0.280          0.947          0.458          0              0              0
  49  CounterTop      -0.680         0.947          -1.654         0              0              0
  50  Drawer          1.825          0.792          0.296          0              0              0
  51  StoveBurner     1.007          0.957          0.561          0              270            0
  52  Drawer          -0.150         0.792          -1.496         0              0              0
  53  Drawer          -0.586         0.792          -1.496         0              0              0
  54  StoveBurner     1.360          0.957          0.561          0              270            0
  55  Drawer          0.024          0.792          0.296          0              0              0
  56  Cabinet         1.079          0.400          -1.349         0              180            0
  57  Cabinet         1.669          0.402          0.151          0              0              0
  58  Cabinet         0.055          0.402          -1.351         0              0              0
  59  Cabinet         -0.180         0.402          0.151          0              0              0
  60  Cabinet         0.729          0.402          0.151          0              0              0
  61  StoveBurner     1.007          0.957          0.293          0              180            0
  62  Drawer          -1.100         0.792          -1.496         0              0              0
  63  Cabinet         -0.396         0.402          -1.351         0              0              0
  64  CounterTop      1.776          0.947          0.458          0              0              0
  65  Cabinet         1.974          1.688          -1.648         0              180            0
  66  Cabinet         -0.820         0.400          -1.349         0              180            0
  67  Toaster         0.305          0.900          0.552          0              180            0
  68  LightSwitch     -2.756         1.307          -0.987         0              90             0
  69  Window          0.582          1.613          -1.967         90             0              0
  70  Window          1.969          1.5            -0.615         90             270            0
  71  Microwave       -1.037         0.900          -1.723         0              0              0
  72  SinkBasin       0.377          0.765          -1.655         0              270            0
  73  CoffeeMachine   0.618          0.900          0.600          0              180            0
  74  StoveKnob       1.246          0.913          0.118          45             180            0
  75  StoveKnob       1.373          0.913          0.118          45             180            0
  76  StoveKnob       0.995          0.913          0.118          45             180            0
  77  StoveKnob       1.126          0.913          0.118          45             180            0
  78  GarbageCan      -0.368         -0.029         0.539          0              90             0
  79  Fridge          -2.134         0.0            -1.690         0              0              0
  80  Faucet          0.549          1.046          -1.833         0              232.527        0
  81  Stool           -1.475         0.000          0.414          1.233          280.375        0
  82  DiningTable     -2.255         -0.004         0.432          0              0              0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn right and go to the microwave | STEP 2: Grab the mug out of the microwave | STEP 3: Turn left and go to the sink | STEP 4: Wash the mug in the sink and then take it out | STEP 5: Turn around and go to the coffee maker | STEP 6: Put the mug in the coffee maker | END