Task: Clean the mug in the fridge and place it 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           -0.25          0.869          -3.0           0              270            0
   1  Potato          -1.896         0.832          -3.771         0              0              0              63
   2  Spatula         0.961          0.679          0.387          0              90             0              46
   3  Spoon           0.769          0.760          -0.252         0              0              0              40
   4  Spoon           -1.970         0.702          -1.199         0              90             0              77
   5  Pot             -2.097         0.930          1.049          0              0              0              48
   6  Cup             -1.970         0.700          -0.983         0              0              0              77
   7  Cup             -0.051         0.899          0.843          0              270            0              67
   8  Knife           0.149          0.923          1.015          0              270            0              67
   9  Knife           0.769          0.783          -0.061         0              0              0              40
  10  Tomato          0.841          0.820          -0.790         0              270            0              64
  11  SoapBottle      0.842          0.014          0.011          0              0              0              51
  12  Bowl            0.903          1.462          0.411          0              0              0              53
  13  PepperShaker    -1.886         0.698          -1.199         0              0              0              77
  14  PepperShaker    -1.556         0.696          -3.276         0              0              0              68
  15  Mug             0.746          0.660          -1.958         0              270            0              61
  16  Mug             0.661          0.659          0.265          0              0              0              46
  17  Apple           -2.054         0.755          -1.199         0              0              0              77
  18  Apple           0.679          0.239          -1.802         0              270            0              61
  19  Pot             -1.552         0.930          0.785          0              0              0              45
  20  Plate           -2.023         0.692          -1.447         0              0              0              77
  21  Fork            -1.803         0.702          -0.983         0              270            0              77
  22  SoapBottle      -0.855         0.899          1.187          0              270            0              67
  23  Apple           0.841          0.826          -0.680         0              270            0              64
  24  Pan             0.740          -0.007         -0.596         0              0              0              44
  25  Egg             -0.855         0.937          1.272          0              270            0              67
  26  Spatula         -1.620         0.711          -3.782         0              90             0              68
  27  Potato          1.055          0.916          -0.460         0              0              0              41
  28  Cup             0.803          0.882          -0.245         0              0              0              41
  29  SaltShaker      -1.803         0.698          -1.307         0              0              0              77
  30  PepperShaker    -1.578         0.692          -3.361         0              0              0              68
  31  ButterKnife     0.754          0.755          -0.743         0              45             0              64
  32  DishSponge      0.582          0.883          0.029          0              0              0              41
  33  Bread           -0.873         0.931          0.978          0              24.231         0              67
  34  Lettuce         0.708          1.461          -2.113         0              270            0              61
  35  Tomato          -1.297         0.100          -3.647         0              270            0              56
  36  Spoon           -0.051         0.901          1.187          0              270            0              67
  37  Knife           -0.453         0.923          1.272          0              0              0              67
  38  Mug             0.708          0.460          -1.802         0              270            0              61
  39  Bowl            0.781          0.663          0.508          0              0              0              46
  40  Drawer          0.706          0.766          -0.125         0              0              0
  41  CounterTop      0.792          0.919          -0.108         0              0              0
  42  Mirror          1.093          1.602          -0.643         0              0              0
  43  StoveBurner     -2.096         0.890          0.785          0              0              0
  44  Cabinet         0.507          0.345          -0.426         0              0              0
  45  StoveBurner     -1.552         0.890          0.785          0              0              0
  46  SideTable       0.770          -0.030         0.443          0              0              0
  47  Sink            0.753          0.882          -0.680         0              0              0
  48  StoveBurner     -2.096         0.890          1.049          0              0              0
  49  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  50  StoveBurner     -1.554         0.890          1.049          0              0              0
  51  Cabinet         0.507          0.345          0.156          0              0              0
  52  Cabinet         0.717          1.822          -0.398         0              0              0
  53  Cabinet         0.717          1.822          0.669          0              0              0
  54  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  55  Toaster         -0.522         0.886          1.081          0              180            0
  56  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  57  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  58  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  59  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  60  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  61  Fridge          0.680          -0.031         -1.957         0              0              0
  62  Window          -2.424         1.639          -2.453         90             270            0
  63  Microwave       -1.994         0.690          -3.651         0              0              0
  64  SinkBasin       0.757          0.762          -0.688         0              270            0
  65  LightSwitch     1.102          1.368          -3.737         0              270            0
  66  Shelf           -0.350         0.124          0.857          0              0              0
  67  DiningTable     -0.350         -0.025         0.857          0              0              0
  68  DiningTable     -1.909         -0.032         -3.507         0              0              0
  69  Blinds          -2.343         2.151          -2.437         0              270            0
  70  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  71  AluminumFoil    0.751          0.225          0.287          0              0              0
  72  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  73  Shelf           0.771          0.226          0.445          0              0              0
  74  Shelf           0.771          0.456          0.446          0              0              0
  75  Faucet          1.025          0.873          -0.678         270            180            0
  76  Shelf           -0.350         0.497          0.857          0              0              0
  77  DiningTable     -1.929         -0.035         -1.398         0              90             0
  78  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Go to the fridge and open it | STEP 2: Take the mug from the fridge | STEP 3: Place the mug in the sink | STEP 4: Wash the mug in the sink | STEP 5: Go to the coffee machine | STEP 6: Put the mug in the machine | END