Task: clean the mug then put it back under 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           -2.0           0.914          1.75           0              0              0
   1  Potato          -1.666         0.821          3.737          0              0              0              75
   2  DishSponge      -0.994         0.896          -0.053         0              90             0              81
   3  ButterKnife     -3.463         0.915          1.357          0              0              0              54
   4  WineBottle      -1.391         0.892          0.152          0              90             0              81
   5  Spatula         -1.523         0.906          -0.053         0              90             0              81
   6  Spoon           -1.921         0.790          3.662          0              0              0              75
   7  Spoon           -3.176         0.916          1.189          0              0              0              54
   8  Fork            -1.259         0.892          0.049          0              90             0              81
   9  Fork            -3.272         0.916          3.336          0              90             0              45
  10  Egg             -1.655         0.926          0.461          0              90             0              81
  11  Knife           -1.259         0.915          0.255          0              90             0              81
  12  Tomato          -1.857         0.858          3.625          0              0              0              75
  13  Tomato          -1.666         0.858          3.625          0              0              0              75
  14  SoapBottle      -3.459         1.995          2.537          0              0              0              60
  15  Bowl            -3.540         1.458          1.227          0              0              0              63
  16  SaltShaker      -1.523         0.887          0.255          0              90             0              81
  17  PepperShaker    -3.559         0.912          1.524          0              0              0              54
  18  Lettuce         -2.302         1.001          3.998          0              0              0              45
  19  Bread           -0.323         1.067          4.051          0              180            0              71
  20  Mug             -1.259         0.886          0.152          0              90             0              81
  21  Apple           -1.161         0.146          3.820          0              270            0              77
  22  Egg             -1.787         0.926          0.255          0              90             0              81
  23  Knife           -3.272         0.939          1.189          0              90             0              54
  24  Fork            -1.127         0.892          0.358          0              90             0              81
  25  Bread           -0.556         1.067          3.926          0              180            0              71
  26  Potato          -3.568         1.578          2.224          0              90             0              76
  27  Plate           -3.005         0.904          3.677          0              0              0              45
  28  Pot             -3.144         0.963          2.374          0              0              0              48
  29  Kettle          -1.815         0.916          4.146          0              0              0              45
  30  WineBottle      -3.654         0.916          1.524          0              0              0              54
  31  Bowl            -3.471         1.453          3.579          0              0              0              62
  32  Tomato          -1.523         0.960          0.564          0              90             0              81
  33  Cup             -0.206         0.722          3.869          0              180            0              71
  34  Spatula         -1.787         0.906          0.255          0              90             0              81
  35  SoapBottle      -3.463         0.915          2.844          0              0              0              45
  36  Lettuce         -1.759         0.974          0.085          0              0              0              81
  37  Pan             -3.424         0.966          1.971          0              0              0              53
  38  Apple           -3.176         0.975          1.440          0              0              0              54
  39  SaltShaker      -3.540         1.455          2.771          0              0              0              52
  40  PepperShaker    -3.559         0.912          1.189          0              0              0              54
  41  ButterKnife     -1.259         0.891          0.255          0              90             0              81
  42  DishSponge      -1.391         0.891          0.358          0              90             0              81
  43  Spoon           -0.994         0.892          0.461          0              90             0              81
  44  Mug             -3.424         0.945          3.275          0              90             0              45
  45  CounterTop      -3.381         0.950          3.335          0              0              0
  46  Drawer          -3.121         0.775          1.357          0              0              0
  47  Drawer          -3.121         0.777          2.916          0              0              0
  48  StoveBurner     -3.148         0.958          2.374          0              0              0
  49  Sink            -1.797         0.917          3.660          0              0              0
  50  Cabinet         -1.421         0.388          3.459          0              0              0
  51  StoveBurner     -3.424         0.958          2.374          0              0              0
  52  Cabinet         -3.365         1.931          2.676          0              0              0
  53  StoveBurner     -3.424         0.958          1.971          0              0              0
  54  CounterTop      -3.381         0.951          1.356          0              0              0
  55  Drawer          -3.121         0.781          3.295          0              0              0
  56  Cabinet         -2.205         0.388          3.459          0              0              0
  57  Cabinet         -2.963         0.388          3.459          0              0              0
  58  Cabinet         -2.992         0.388          2.683          0              0              0
  59  Cabinet         -3.352         2.205          1.715          0              0              0
  60  Cabinet         -3.352         2.205          2.653          0              0              0
  61  Cabinet         -2.189         0.388          3.466          0              0              0
  62  Cabinet         -3.365         1.931          3.963          0              0              0
  63  Cabinet         -3.365         1.931          1.056          0              0              0
  64  Cabinet         -2.992         0.388          1.037          0              0              0
  65  StoveBurner     -3.143         0.958          1.971          0              0              0
  66  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  67  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  68  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  69  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  70  Toaster         -2.654         0.902          4.064          0              180            0
  71  Fridge          -0.439         0.014          3.996          0              0              0
  72  LightSwitch     0.25           1.383          2.085          0              270            0
  73  Window          -1.430         1.338          -0.347         90             0              0
  74  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  75  SinkBasin       -1.802         0.778          3.700          0              0              0
  76  Microwave       -3.484         1.430          2.182          0              90             0
  77  GarbageCan      -1.184         -0.020         3.794          0              270            0
  78  Blinds          -1.404         2.092          -0.296         0              0              0
  79  Stool           -1.373         0.014          1.048          1.214          20.754         0
  80  Faucet          -1.788         0.903          3.931          270            90             0
  81  DiningTable     -1.399         0.010          0.238          0              0              0
  82  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: go to the coffee machine on the counter | STEP 2: pick up the mug from the machine | STEP 3: take the mug to the sink | STEP 4: clean the mug in the sink | STEP 5: take the mug back to the coffee machine | STEP 6: put the mug back under the machine | END