Task: Put a clean mug on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           1.124          0.25           0              90             0
   1  DishSponge      -1.915         1.335          -1.255         0              0              0              57
   2  Kettle          -0.125         1.332          -2.973         0              0              0              58
   3  Kettle          -0.630         1.331          -3.301         0              180            0              47
   4  Spoon           -1.954         1.052          -0.542         0              0              0              68
   5  Spoon           1.067          0.461          1.054          0              270            0              77
   6  Egg             -1.657         0.321          2.193          0              270            0              65
   7  Egg             1.006          1.986          1.612          0              270            0              63
   8  Plate           -1.681         0.344          0.211          0              0              0              48
   9  Plate           0.896          1.323          -2.053         0              0              0              50
  10  Knife           0.492          1.352          -2.678         0              0              0              50
  11  SoapBottle      -1.730         0.420          -0.364         0              0              0              54
  12  SoapBottle      -1.790         1.323          -1.681         0              0              0              50
  13  Tomato          -1.586         0.314          2.275          0              270            0              65
  14  Bowl            -1.750         0.342          1.007          0              0              0              51
  15  Bowl            -1.614         0.342          1.627          0              0              0              51
  16  PepperShaker    0.671          0.339          -2.061         0              180            0              49
  17  PepperShaker    0.778          1.202          1.222          0              0              0              75
  18  Bread           -1.920         1.397          0.445          0              0              0              50
  19  Mug             -1.614         0.338          0.713          0              0              0              48
  20  Mug             0.965          1.371          -1.534         0              270            0              71
  21  Apple           0.957          1.995          1.788          0              270            0              63
  22  Bread           -1.513         1.380          0.662          0              0              0              50
  23  Pot             -1.920         1.329          1.419          0              0              0              50
  24  Knife           -1.826         1.358          -0.911         0              180            0              57
  25  Bowl            1.285          1.321          -2.053         0              0              0              50
  26  Potato          -1.401         1.362          2.069          0              0              0              50
  27  SoapBottle      -1.530         1.323          -3.241         0              0              0              50
  28  Fork            -1.790         1.323          0.445          0              0              0              50
  29  Cup             -1.920         1.320          -2.201         0              0              0              50
  30  Kettle          -0.239         1.331          -3.301         0              180            0              45
  31  Egg             0.861          1.248          1.254          0              0              0              75
  32  Pan             -1.881         0.327          -2.035         0              0              0              46
  33  SaltShaker      0.766          1.318          -2.424         0              0              0              50
  34  WineBottle      -1.952         0.344          0.512          0              0              0              48
  35  Lettuce         0.636          1.399          -1.312         0              0              0              50
  36  Spatula         -2.093         1.343          -0.911         0              180            0              57
  37  PaperTowelRoll  -1.094         1.427          -2.870         0              0              0              50
  38  Tomato          -1.380         1.356          -2.981         0              0              0              50
  39  Plate           0.976          0.345          -2.164         0              180            0              49
  40  PepperShaker    0.896          1.318          -2.424         0              0              0              50
  41  DishSponge      -1.762         1.050          -0.633         0              0              0              68
  42  Spoon           -1.660         1.324          1.419          0              0              0              50
  43  Apple           1.017          1.724          1.604          0              270            0              63
  44  Mug             1.193          1.202          1.238          0              0              0              75
  45  StoveBurner     -0.239         1.325          -3.301         0              180            0
  46  Cabinet         -1.461         0.775          -2.002         0              0              0
  47  StoveBurner     -0.630         1.325          -3.301         0              180            0
  48  Cabinet         -1.461         0.775          0.470          0              0              0
  49  Cabinet         0.578          0.776          -2.054         0              0              0
  50  CounterTop      -1.809         1.358          1.182          0              0              0
  51  Cabinet         -1.461         0.775          1.310          0              0              0
  52  Faucet          -2.063         1.362          -0.726         0              39.391         0
  53  StoveBurner     -0.749         1.325          -2.973         0              0              0
  54  Drawer          -1.610         0.681          -0.430         0              0              0
  55  Window          -2.566         1.799          -0.822         270            0              0
  56  Drawer          -1.610         0.681          -1.217         0              0              0
  57  Sink            -1.990         1.143          -0.975         0              0              0
  58  StoveBurner     -0.125         1.325          -2.973         0              0              0
  59  StoveKnob       -0.185         1.338          -2.741         0              270            180
  60  StoveKnob       -0.336         1.338          -2.741         0              270            180
  61  StoveKnob       -0.569         1.338          -2.741         0              270            180
  62  StoveKnob       -0.707         1.338          -2.741         0              270            180
  63  Fridge          1.013          0.227          1.917          0              270            0
  64  Microwave       0.994          1.310          -2.163         0              270            0
  65  GarbageCan      -1.633         0.212          2.192          0              270            0
  66  LightSwitch     1.386          1.565          -0.657         0              270            0
  67  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  68  SinkBasin       -1.835         1.039          -0.542         0              0              0
  69  ButterKnife     0.873          0.468          0.651          0              0              0
  70  Toaster         -1.885         1.310          -2.512         0              90             0
  71  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  72  Drawer          0.647          1.061          0.680          0              270            0
  73  Drawer          0.648          1.061          1.020          0              270            0
  74  Drawer          0.648          0.843          1.020          0              270            0
  75  SideTable       0.975          0.220          0.869          0              270            0
  76  Drawer          0.648          0.602          0.680          0              270            0
  77  Drawer          0.648          0.596          1.020          0              270            0
  78  Drawer          0.648          0.843          0.680          0              270            0
  79  Stool           0.606          0.222          -1.084         1.233          280.489        0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn right and walk to the stove then turn right and walk to the counter. | STEP 2: Pick up the green cup to the right of the toaster. | STEP 3: Turn right and walk to the sink and then turn left to face it. | STEP 4: Wash the cup in the sink and make sure to close the faucet when you're done. | STEP 5: Turn right and walk until you're even with the microwave on your right then turn right and walk to it. | STEP 6: Put the green cup under the mug to the microwaves left side. | END