Task: Put the cleaned mug in 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           -0.5           0.869          0.0            0              0              0
   1  ButterKnife     0.803          0.883          -0.108         0              0              0              41
   2  Spatula         0.149          0.915          1.015          0              270            0              67
   3  Spatula         0.721          0.680          0.326          0              180            0              46
   4  Fork            0.817          0.760          0.002          0              270            0              40
   5  Fork            0.661          0.665          0.508          0              180            0              46
   6  Pot             -2.097         0.930          1.049          0              0              0              48
   7  Pot             -1.555         0.930          1.049          0              0              0              50
   8  Cup             0.842          0.014          -0.184         0              0              0              51
   9  Cup             0.601          0.664          0.630          0              0              0              46
  10  Knife           0.769          0.782          -0.188         0              0              0              40
  11  Tomato          0.746          0.713          -2.113         0              270            0              61
  12  Tomato          -1.599         0.744          -3.276         0              0              0              68
  13  Bowl            0.757          0.770          -0.735         0              270            0              64
  14  Bread           -0.252         0.944          0.843          0              270            0              67
  15  Lettuce         0.746          1.246          -1.802         0              270            0              61
  16  Lettuce         0.785          1.245          -2.113         0              270            0              61
  17  Apple           0.877          0.937          -0.176         0              0              0              41
  18  Apple           -0.654         0.954          0.758          0              270            0              67
  19  Pot             0.746          0.465          -2.035         0              180            0              61
  20  Plate           -1.803         0.705          -1.091         0              0              0              77
  21  Fork            -1.056         0.901          1.101          0              270            0              67
  22  SoapBottle      -1.803         0.701          -1.524         0              0              0              77
  23  Apple           -1.224         0.105          -3.611         0              270            0              56
  24  Pan             0.740          -0.007         -0.596         0              0              0              44
  25  Egg             -1.260         0.088          -3.720         0              270            0              56
  26  Spatula         0.961          0.679          0.387          0              90             0              46
  27  Potato          -2.002         0.832          -3.673         0              0              0              63
  28  Cup             -1.556         0.698          -3.698         0              0              0              68
  29  SaltShaker      1.024          0.879          0.098          0              0              0              41
  30  PepperShaker    0.858          1.460          0.596          0              0              0              53
  31  ButterKnife     -1.056         0.900          0.843          0              270            0              67
  32  DishSponge      0.621          0.015          -0.250         0              0              0              51
  33  Bread           -0.051         0.944          1.101          0              270            0              67
  34  Lettuce         0.661          0.751          0.326          0              0              0              46
  35  Tomato          0.785          1.423          -1.802         0              270            0              61
  36  Spoon           0.901          0.666          0.630          0              0              0              46
  37  Knife           -0.855         0.923          0.929          0              270            0              67
  38  Mug             -1.896         0.794          -3.771         0              90             0              63
  39  Bowl            0.746          1.373          -2.113         0              270            0              61
  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: Turn around and walk across the room to the microwave on the table in the corner | STEP 2: Open the microwave and remove the mug from it | STEP 3: Turn right and walk over to the kitchen sink | STEP 4: Wash the mug under water in the sink then remove it | STEP 5: Walk a few feet to the right then turn left to face the coffee maker | STEP 6: Put the mug in the coffee maker | END