Task: Place a clean mug on the coffee maker base.

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          1.5            0              270            0
   1  Potato          -2.616         0.863          2.309          0              90             0              67
   2  Ladle           -2.540         1.893          1.978          0              0              0              43
   3  DishSponge      -0.295         0.056          2.572          0              0              0              69
   4  DishSponge      -0.888         0.709          0.378          0              0              0              52
   5  Fork            -2.563         0.692          1.474          0              90             0              54
   6  Fork            -2.631         0.693          1.547          0              270            0              54
   7  Spatula         -2.724         0.838          0.203          0              180            0              49
   8  Cup             -2.784         1.435          0.293          0              45             0              55
   9  Cup             -2.782         0.825          2.309          0              90             0              67
  10  Plate           -2.115         0.130          0.401          0              0              0              61
  11  Plate           -2.840         0.828          0.203          0              0              0              49
  12  Knife           -0.817         0.818          0.161          88.822         323.997        141.317        49
  13  Knife           -0.817         0.849          0.352          0              90             0              49
  14  Tomato          -0.362         0.106          2.674          0              0              0              69
  15  SoapBottle      -1.580         0.123          0.479          0              0              0              62
  16  SaltShaker      -0.092         0.818          1.214          0              0              0              49
  17  SaltShaker      -2.375         0.818          0.352          0              0              0              49
  18  Mug             -2.726         1.440          2.221          0              90             0              67
  19  Apple           -2.726         1.216          2.045          0              90             0              67
  20  Apple           -2.892         1.216          2.485          0              90             0              67
  21  Apple           -2.671         0.897          1.957          0              90             0              67
  22  Fork            -2.698         0.693          1.547          0              270            0              54
  23  Ladle           -0.371         0.738          0.879          0              45             0              51
  24  Pan             -0.244         0.829          2.075          0              180            0              44
  25  SoapBottle      -2.858         1.433          0.674          0              0              0              58
  26  Pot             -0.531         0.822          2.096          0              0              0              46
  27  Tomato          -2.726         1.495          2.397          0              90             0              67
  28  Potato          -2.744         0.960          1.337          0              90             0              68
  29  SaltShaker      -0.147         0.818          0.278          0              0              0              49
  30  Plate           -2.609         0.126          1.550          0              0              0              60
  31  Spatula         -0.341         0.696          1.194          0              45             0              45
  32  Knife           -1.542         0.849          0.498          0              0              0              49
  33  Egg             -2.608         0.847          0.278          0              0              0              49
  34  Cup             -2.840         0.823          0.426          0              0              0              49
  35  ButterKnife     -2.493         0.812          0.476          0              50.734         0              49
  36  Lettuce         -1.836         0.741          0.238          0              55.910         0              76
  37  PepperShaker    -2.686         1.430          0.195          0              45             0              55
  38  DishSponge      -2.258         0.823          0.055          0              0              0              49
  39  Bread           -0.986         0.858          0.248          0              29.031         2.735          49
  40  Spoon           -1.161         0.699          0.444          0              270            0              53
  41  Mug             -0.646         0.888          0.367          0              0              0              77
  42  Bowl            -0.397         0.115          0.914          0              0              0              65
  43  Cabinet         -2.377         2.015          1.720          0              0              0
  44  StoveBurner     -0.244         0.820          2.075          0              180            0
  45  Drawer          -0.402         0.703          1.252          0              0              0
  46  StoveBurner     -0.518         0.820          2.075          0              180            0
  47  Sink            -1.838         0.726          0.343          0              180            0
  48  StoveBurner     -0.244         0.820          1.684          0              0              0
  49  CounterTop      -1.557         0.859          0.277          0              0              0
  50  StoveBurner     -0.518         0.820          1.684          0              0              0
  51  Drawer          -0.404         0.704          0.912          0              0              0
  52  Drawer          -0.861         0.709          0.420          0              0              0
  53  Drawer          -1.133         0.706          0.418          0              0              0
  54  Drawer          -2.589         0.703          1.511          0              0              0
  55  Cabinet         -2.772         1.803          0.508          0              0              0
  56  Cabinet         -2.460         1.803          0.231          0              0              0
  57  Cabinet         -2.781         1.798          0.825          0              0              0
  58  Cabinet         -2.781         1.798          0.815          0              0              0
  59  Cabinet         -2.377         2.009          2.581          0              0              0
  60  Cabinet         -2.442         0.385          1.672          0              0              0
  61  Cabinet         -2.238         0.385          0.564          0              0              0
  62  Cabinet         -1.286         0.385          0.564          0              0              0
  63  Cabinet         -1.262         0.385          0.565          0              0              0
  64  Cabinet         -0.734         0.385          0.565          0              0              0
  65  Cabinet         -0.549         0.385          0.751          0              0              0
  66  Cabinet         -0.549         0.385          1.412          0              0              0
  67  Fridge          -2.782         0.0            2.221          0              0              0
  68  Microwave       -2.794         0.812          1.348          0              90             0
  69  GarbageCan      -0.329         2.205          2.606          0              0              0
  70  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  71  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  72  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  73  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  74  Window          -1.720         1.342          -0.208         90             0              0
  75  Toaster         -0.171         0.812          0.735          0              270            0
  76  SinkBasin       -1.745         0.687          0.295          0              0              0
  77  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  78  LightSwitch     -0.615         1.378          3.0            0              180            0
  79  Faucet          -1.686         0.954          0.176          0              236.223        0
  80  Stool           -1.008         0.008          1.955          0              18.279         0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: Turn around and walk over to the coffee maker that is on your right. . | STEP 2: Pick up the mug that is sitting on the base of the coffee maker.  | STEP 3: Move a bit to your right until you are facing the kitchen sink. | STEP 4: Rinse the mug off in the left sink basin before taking it back out. | STEP 5: Move to your left, back over to the coffee maker. | STEP 6: Put the coffee mug back down on the base of the coffee maker. | END