Task: Put a clean mug on 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           0.25           0.900          1.75           0              0              0
   1  Pan             -0.036         0.950          -2.372         0              270            0              53
   2  Statue          0.217          1.110          -0.759         0              0              0              58
   3  Potato          -2.018         0.800          -1.673         0              90             0              93
   4  CreditCard      0.453          0.907          -2.484         0              0              0              60
   5  CreditCard      1.993          0.877          -2.509         0              180            0              85
   6  Plate           -2.019         0.908          -2.146         0              0              0              83
   7  Plate           -0.473         1.108          0.757          0              0              0              58
   8  Tomato          -1.693         0.950          -2.695         0              0              0              83
   9  SoapBottle      -1.989         0.048          2.172          0              270            0              89
  10  Apple           -0.070         1.841          -2.546         0              0              0              84
  11  Knife           -1.852         0.795          -1.501         0              0              0              93
  12  Mug             -0.473         1.106          0.251          0              0              0              58
  13  Mug             -1.731         0.956          -0.168         0              90             0              92
  14  Mug             -2.163         1.497          0.925          0              90             0              91
  15  Spatula         -1.290         0.926          -2.406         0              0              0              83
  16  Spatula         1.119          0.791          -2.463         0              90             0              54
  17  ButterKnife     -1.963         0.769          -1.673         0              270            0              93
  18  ButterKnife     -0.059         1.111          -0.253         0              0              0              58
  19  WineBottle      -1.962         0.048          2.076          0              270            0              89
  20  DishSponge      1.008          0.314          -2.479         0              0              0              62
  21  DishSponge      -1.907         0.047          1.933          0              270            0              89
  22  Bowl            -0.335         1.108          -0.253         0              0              0              58
  23  Book            0.155          1.1            0.617          0              315            0              58
  24  Glassbottle     1.891          0.881          -2.590         0              180            0              85
  25  Knife           0.079          1.136          -0.253         0              180            0              58
  26  Bread           -0.197         1.184          -0.759         0              0              0              58
  27  Fork            -1.856         0.911          -0.513         0              0              0              83
  28  Potato          -0.059         1.142          -0.001         0              0              0              58
  29  SoapBottle      -0.473         1.112          -0.506         0              0              0              58
  30  Kettle          1.037          0.9            -2.596         0              0              0              60
  31  Pan             -0.059         1.111          0.251          0              90             0              58
  32  Plate           0.217          1.108          -0.001         0              0              0              58
  33  Tomato          -2.038         0.579          1.003          0              90             0              91
  34  Vase            2.042          0.540          -2.495         0              0              0              88
  35  Egg             -0.473         1.146          -0.253         0              0              0              58
  36  CreditCard      1.582          0.550          -2.718         0              180            0              88
  37  Statue          1.955          0.168          -2.543         0              0              0              90
  38  WineBottle      -2.019         0.912          -0.698         0              0              0              83
  39  Pot             -0.335         1.115          -0.001         0              0              0              58
  40  Spatula         -1.651         0.493          -0.051         0              0              0              73
  41  PaperTowelRoll  0.217          1.215          0.251          0              0              0              58
  42  Cup             -1.852         0.767          -1.760         0              90             0              93
  43  Vase            -1.143         0.909          -2.560         0              0              0              83
  44  Bowl            -1.908         0.766          -1.328         0              90             0              93
  45  SaltShaker      1.007          1.657          -2.527         0              0              0              80
  46  PepperShaker    -1.653         0.150          -0.101         0              90             0              81
  47  Lettuce         0.582          0.990          -2.330         0              0              0              60
  48  ButterKnife     -1.733         0.911          -2.483         0              0              0              83
  49  Apple           0.324          0.961          -2.253         0              0              0              60
  50  DishSponge      -0.059         1.111          -0.506         0              0              0              58
  51  Spoon           0.324          0.911          -2.407         0              0              0              60
  52  Mug             0.582          0.905          -2.714         0              0              0              60
  53  StoveBurner     -0.036         0.915          -2.372         0              0              0
  54  Drawer          0.949          0.832          -2.197         0              0              0
  55  Drawer          -1.560         0.839          0.204          0              90             0
  56  StoveBurner     -0.465         0.915          -2.371         0              180            0
  57  Drawer          -1.560         0.839          -0.197         0              90             0
  58  CounterTop      -0.079         1.147          -0.001         0              0              0
  59  Cabinet         -1.549         0.494          -1.964         0              90             0
  60  CounterTop      0.693          0.946          -2.483         0              0              0
  61  StoveBurner     -0.036         0.915          -2.576         0              0              0
  62  Drawer          0.949          0.393          -2.200         0              0              0
  63  Drawer          0.949          0.708          -2.200         0              0              0
  64  Cabinet         -1.549         0.494          0.379          0              90             0
  65  StoveKnob       -0.022         0.881          -2.187         45             0              0
  66  Drawer          0.949          0.560          -2.201         0              0              0
  67  StoveBurner     -0.465         0.915          -2.575         0              180            0
  68  Window          -2.230         1.429          -1.203         0              0              0
  69  StoveKnob       -0.483         0.881          -2.187         45             0              0
  70  Sink            -1.899         0.964          -1.5           0              90             0
  71  StoveKnob       -0.328         0.881          -2.187         45             0              0
  72  Cabinet         -0.727         2.015          -2.460         0              0              0
  73  Drawer          -1.560         0.655          -0.196         0              90             0
  74  Cabinet         -1.685         2.015          -2.461         0              0              0
  75  Cabinet         0.680          0.494          -2.200         0              0              0
  76  Cabinet         -1.179         0.494          -2.200         0              0              0
  77  Cabinet         -1.849         2.015          0.379          0              90             0
  78  Drawer          0.949          0.221          -2.200         0              0              0
  79  StoveKnob       -0.183         0.881          -2.187         45             0              0
  80  Cabinet         0.719          2.015          -2.460         0              0              0
  81  Drawer          -1.560         0.331          -0.196         0              90             0
  82  Cabinet         0.680          2.015          -2.460         0              0              0
  83  CounterTop      -1.868         0.946          -1.205         0              0              0
  84  Microwave       -0.236         1.689          -2.525         0              0              0
  85  Shelf           1.751          0.880          -2.560         0              0              0
  86  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  87  Toaster         -1.835         0.900          0.134          0              90             0
  88  Shelf           1.750          0.552          -2.559         0              0              0
  89  GarbageCan      -1.935         -0.002         2.029          0              270            0
  90  Shelf           1.750          0.172          -2.559         0              0              0
  91  Fridge          -2.096         0.0            1.088          0              0              0
  92  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  93  SinkBasin       -1.908         0.759          -1.488         0              90             0
  94  LightSwitch     2.329          1.309          -0.159         0              270            0
  95  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  96  Stool           0.702          0.000          -0.514         1.202          65.108         0
  97  Stool           0.743          0.000          0.563          1.227          106.706        0
  98  Faucet          -2.070         1.132          -1.514         0              0              0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: Turn to the left, go forward to the garbage can, hang a left, go to the counter on the right where the coffee maker is. | STEP 2: Pick up the mug that is on the coffee maker. | STEP 3: Turn to the left, go forward to the sink that is on the right. | STEP 4: Put the mug in the sink and rinse it off, then pick it back up. | STEP 5: Turn to the right, go forward to the coffee maker that is on the left. | STEP 6: Put the mug back on the coffee maker. | END