Task: Put a clean mug in 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           0.0            0.930          1.25           0              270            0
   1  Ladle           -0.991         0.555          0.839          0              90             0              60
   2  Ladle           -0.991         0.363          -0.273         0              90             0              68
   3  DishSponge      0.494          0.899          -1.445         0              0              0              84
   4  DishSponge      0.713          1.674          -1.689         0              0              0              78
   5  ButterKnife     -0.868         0.518          1.518          0              0              0              51
   6  Glassbottle     -0.228         1.264          -1.506         0              45             0              80
   7  Glassbottle     -0.989         1.259          -0.790         0              45             0              82
   8  Kettle          3.028          0.178          0.700          0              0              0              72
   9  Spatula         1.491          0.923          0.322          0              90             0              94
  10  Spoon           3.028          0.748          0.298          0              180            0              108
  11  Spoon           -0.705         0.707          -0.634         0              315            0              57
  12  Apple           3.355          0.974          -0.798         0              0              0              62
  13  Bread           0.445          0.986          0.426          0              0              0              94
  14  Lettuce         -1.080         0.965          0.399          0              0              0              63
  15  PepperShaker    0.376          0.316          -1.393         0              0              0              69
  16  Bowl            3.084          0.172          -0.404         0              0              0              74
  17  Bowl            -0.862         0.897          0.846          0              0              0              63
  18  SoapBottle      -0.136         0.909          -1.393         0              45             0              84
  19  Cup             -0.985         0.995          1.470          0              90             0              111
  20  Plate           1.208          1.687          -1.550         0              0              0              54
  21  Plate           0.798          0.923          0.527          0              0              0              94
  22  Knife           0.156          0.925          -1.379         0              45             0              84
  23  Knife           -0.862         0.925          -0.047         0              180            0              63
  24  Plate           3.122          0.913          -0.798         0              0              0              62
  25  Glassbottle     -0.336         0.901          -1.501         0              45             0              84
  26  SoapBottle      1.303          1.683          -1.341         0              0              0              54
  27  Potato          3.028          0.785          0.165          0              90             0              108
  28  Fork            -0.827         0.518          1.255          0              0              0              51
  29  Ladle           -0.991         0.743          -0.098         0              90             0              70
  30  Pot             0.423          0.900          0.869          0              0              0              94
  31  Kettle          -0.419         0.902          -1.269         0              315            0              65
  32  Spatula         3.152          0.762          -0.034         0              0              0              108
  33  Knife           -0.991         0.732          0.576          0              90             0              67
  34  Lettuce         0.022          0.965          -1.445         0              0              0              84
  35  Cup             2.971          0.175          0.489          0              0              0              72
  36  SaltShaker      -0.786         0.322          1.168          0              0              0              98
  37  Egg             -1.085         1.050          1.311          0              90             0              111
  38  PepperShaker    -0.126         0.318          -1.354         0              45             0              88
  39  ButterKnife     -0.868         0.131          0.839          0              0              0              93
  40  Apple           -0.601         0.974          -0.625         0              45             0              63
  41  Pan             3.181          1.464          -1.648         0              90             0              61
  42  Bread           0.836          0.986          0.180          0              0              0              94
  43  CellPhone       -0.950         0.515          0.401          0              0              0              60
  44  DishSponge      0.547          0.910          0.140          0              36.810         0              94
  45  Tomato          3.152          0.784          0.231          0              90             0              108
  46  Spoon           -0.885         0.901          -0.643         0              135            0              63
  47  Bowl            1.229          0.905          0.605          0              0              0              94
  48  Mug             3.049          0.966          0.591          0              270            0              106
  49  Drawer          0.376          0.572          -1.509         0              0              0
  50  Drawer          3.020          0.769          -0.783         0              180            0
  51  Drawer          -0.860         0.577          1.429          0              0              0
  52  StoveBurner     -0.600         0.897          -1.090         0              135            0
  53  Drawer          0.376          0.191          -1.509         0              0              0
  54  Cabinet         1.402          1.874          -1.259         0              0              0
  55  Cabinet         -0.202         1.963          -1.328         0              0              0
  56  Drawer          -0.860         0.765          1.429          0              0              0
  57  Drawer          -0.677         0.765          -0.700         0              0              0
  58  StoveBurner     -0.420         0.897          -0.920         0              135            0
  59  Drawer          3.020          0.769          -0.407         0              180            0
  60  Drawer          -0.860         0.577          0.663          0              0              0
  61  Cabinet         2.819          1.768          -1.850         0              0              0
  62  CounterTop      3.111          0.936          0.019          0              0              0
  63  CounterTop      -1.007         0.935          -0.039         0              0              0
  64  Drawer          -0.860         0.385          0.663          0              0              0
  65  StoveBurner     -0.419         0.897          -1.269         0              315            0
  66  Drawer          -0.047         0.573          -1.324         0              0              0
  67  Drawer          -0.860         0.765          0.663          0              0              0
  68  Drawer          -0.860         0.385          -0.100         0              0              0
  69  Drawer          0.376          0.380          -1.509         0              0              0
  70  Drawer          -0.860         0.765          -0.100         0              0              0
  71  Drawer          0.376          0.765          -1.509         0              0              0
  72  Cabinet         2.849          0.419          0.409          0              0              0
  73  Drawer          -0.047         0.765          -1.324         0              0              0
  74  Cabinet         2.849          0.419          -0.610         0              0              0
  75  Cabinet         2.849          0.419          -0.959         0              0              0
  76  Cabinet         3.069          1.666          -0.709         0              0              0
  77  Cabinet         2.819          1.768          -1.047         0              0              0
  78  Cabinet         0.620          1.874          -1.259         0              0              0
  79  Cabinet         0.140          1.666          -1.559         0              0              0
  80  Cabinet         -0.189         1.666          -1.340         0              0              0
  81  Cabinet         -0.709         1.963          -0.819         0              0              0
  82  Cabinet         -0.920         1.665          -0.620         0              0              0
  83  Drawer          -0.860         0.190          -0.100         0              0              0
  84  CounterTop      0.133          0.935          -1.457         0              0              0
  85  Drawer          3.020          0.769          0.695          0              180            0
  86  Drawer          -0.677         0.577          -0.700         0              0              0
  87  Drawer          -0.860         0.190          1.429          0              0              0
  88  Drawer          -0.047         0.192          -1.324         0              0              0
  89  Drawer          -0.677         0.193          -0.700         0              0              0
  90  Drawer          -0.860         0.577          -0.100         0              0              0
  91  Sink            3.078          0.887          0.086          0              0              0
  92  StoveBurner     -0.239         0.897          -1.089         0              315            0
  93  Drawer          -0.860         0.190          0.663          0              0              0
  94  CounterTop      1.210          0.937          0.463          0              0              0
  95  Drawer          -0.047         0.381          -1.324         0              0              0
  96  Drawer          -0.677         0.387          -0.700         0              0              0
  97  Mirror          -1.295         1.630          0.045          0              0              0
  98  Drawer          -0.860         0.385          1.429          0              0              0
  99  HousePlant      3.196          0.891          -0.368         0              0              0
 100  StoveKnob       -0.090         0.790          -1.009         270            45             0
 101  StoveKnob       -0.280         0.790          -0.819         270            45             0
 102  StoveKnob       -0.180         0.790          -0.920         270            45             0
 103  StoveKnob       -0.370         0.790          -0.720         270            45             0
 104  GarbageCan      3.137          0.025          1.545          0              225            0
 105  Window          3.703          1.675          0.046          90             90             0
 106  CoffeeMachine   3.214          0.890          0.697          0              270            0
 107  LightSwitch     2.592          1.309          -1.880         0              0              0
 108  SinkBasin       3.069          0.736          0.108          0              90             0
 109  Fridge          1.008          0.029          -1.467         0              0              0
 110  Toaster         -1.035         0.873          -0.396         0              90             0
 111  Microwave       -1.034         0.874          1.428          0              90             0
 112  Faucet          3.305          0.886          0.094          270            180            0
 113  NorthWall
 114  EastWall
 115  SouthWall
 116  WestWall

Plan:
STEP 1: Turn left and walk over to the oven, then hang a left and walk across the room to where the coffee machine is on the counter. | STEP 2: Take the dirty mug out of the coffee machine. | STEP 3: Turn right and walk over to the sink. | STEP 4: Wash the dirty mug in the sink and then pick it back up. | STEP 5: Turn left and walk forward, then turn right to face the coffee machine. | STEP 6: Put the clean coffee mug into the coffee machine. | END