Task: Put a cup in the correct place of the single-cup 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           1.0            0.900          0.25           0              90             0
   1  Potato          -1.380         1.212          -0.495         0              90             0              72
   2  DishSponge      0.457          0.913          -1.834         0              0              0              64
   3  DishSponge      -0.173         2.151          -2.094         0              0              0              49
   4  WineBottle      -0.160         0.931          0.076          0              0              0              81
   5  Pot             1.647          0.911          -1.329         0              0              0              64
   6  Spatula         0.119          0.928          -1.737         0              0              0              64
   7  Spatula         0.294          0.941          0.076          0              0              0              81
   8  Fork            1.647          0.914          -1.212         0              0              0              64
   9  Fork            -0.230         0.914          -1.737         0              0              0              64
  10  Cup             -1.610         0.859          -0.910         0              90             0              72
  11  Cup             0.522          0.927          0.305          0              0              0              81
  12  Knife           -0.210         0.787          -2.026         0              0              0              76
  13  SoapBottle      1.771          0.879          2.510          0              0              0              90
  14  SoapBottle      1.218          0.117          -1.806         0              0              0              56
  15  Bowl            -1.533         1.501          -0.495         0              90             0              72
  16  Bowl            -1.495         1.180          -0.910         0              90             0              72
  17  Lettuce         0.408          1.011          0.534          0              0              0              81
  18  SaltShaker      1.332          0.115          -1.860         0              0              0              56
  19  SaltShaker      1.566          0.549          2.327          0              0              0              91
  20  Mug             -0.720         0.908          -2.200         0              0              0              64
  21  Apple           0.689          0.984          -1.751         0              0              0              64
  22  Apple           1.466          0.984          -1.095         0              0              0              64
  23  Potato          1.850          0.942          -2.002         0              0              0              64
  24  Bowl            0.180          0.923          1.220          0              0              0              81
  25  SoapBottle      2.009          0.912          -1.095         0              0              0              64
  26  Fork            0.180          0.931          0.534          0              0              0              81
  27  Ladle           0.457          0.957          -2.169         0              0              0              64
  28  Bread           -0.047         0.975          0.305          0              0              0              81
  29  Lettuce         -1.553         1.264          -0.703         0              90             0              72
  30  WineBottle      0.265          1.659          -2.087         0              0              0              53
  31  Spatula         0.066          0.945          1.448          0              90             0              81
  32  Plate           -1.438         0.862          -0.495         0              90             0              72
  33  SaltShaker      0.180          0.923          0.305          0              0              0              81
  34  Pot             -0.117         0.921          1.5            0              0              0              81
  35  Cup             -1.028         0.126          -1.426         0              90             0              59
  36  PepperShaker    1.362          0.877          2.456          0              0              0              90
  37  Pan             0.180          0.926          0.762          0              90             0              81
  38  ButterKnife     0.294          0.926          1.220          0              0              0              81
  39  Tomato          0.408          0.982          0.991          0              0              0              81
  40  DishSponge      -1.036         0.913          -2.115         0              0              0              64
  41  Egg             1.958          0.140          0.083          0              0              0              65
  42  Spoon           0.522          0.928          0.762          0              0              0              81
  43  Knife           -0.047         0.953          1.220          0              180            0              81
  44  Mug             1.255          0.548          2.482          0              0              0              91
  45  StoveBurner     1.845          0.940          -0.355         0              0              0
  46  StoveBurner     1.567          0.940          -0.757         0              0              0
  47  Cabinet         -1.149         2.019          -1.979         0              90             0
  48  Cabinet         -1.149         2.265          -0.834         0              90             0
  49  Cabinet         -0.459         2.265          -2.0           0              0              0
  50  Cabinet         -1.100         2.019          -2.0           0              0              0
  51  Cabinet         1.719          2.019          -2.0           0              0              0
  52  Cabinet         1.179          2.019          -2.0           0              0              0
  53  Cabinet         0.199          2.019          -2.0           0              0              0
  54  Cabinet         1.75           2.019          -1.399         0              270            0
  55  Cabinet         1.75           2.019          -1.029         0              270            0
  56  Cabinet         1.379          0.469          -1.689         0              0              0
  57  Cabinet         -0.819         0.469          -1.689         0              0              0
  58  Cabinet         1.389          0.469          -1.059         0              270            0
  59  Cabinet         -0.839         0.469          -1.665         0              90             0
  60  StoveBurner     1.567          0.940          -0.355         0              0              0
  61  StoveBurner     1.845          0.940          -0.757         0              0              0
  62  Sink            -0.109         0.893          -2.009         0              0              0
  63  Drawer          -0.819         0.75           -1.690         0              0              0
  64  CounterTop      0.232          0.949          -2.002         0              0              0
  65  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  66  Vase            0.251          0.546          0.475          0              270            0
  67  Toaster         0.780          0.900          -2.080         0              0              0
  68  LightSwitch     0.108          1.315          2.75           0              180            0
  69  Vase            0.400          0.925          0.218          0              180            0
  70  Microwave       -1.233         0.900          -1.680         0              90             0
  71  Vase            1.465          1.662          -2.200         0              0              0
  72  Fridge          -1.495         0.0            -0.703         0              0              0
  73  Window          2.114          1.495          1.072          90             270            0
  74  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  75  Vase            0.333          0.546          1.272          0              270            0
  76  SinkBasin       -0.148         0.753          -2.026         0              0              0
  77  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  79  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  80  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  81  DiningTable     0.170          0.005          0.678          0              270            0
  82  Shelf           0.170          0.155          0.678          0              270            0
  83  Shelf           1.605          0.172          2.480          0              0              0
  84  Shelf           1.605          0.552          2.480          0              0              0
  85  Shelf           1.604          0.880          2.479          0              0              0
  86  ShelvingUnit    1.605          0.006          2.480          0              0              0
  87  Faucet          -0.143         1.028          -2.223         0              270            0
  88  Stool           -0.553         0.000          0.871          1.233          280.376        0
  89  Shelf           0.170          0.528          0.678          0              270            0
  90
  91
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn around, veer left and stop at the counter to the right of the sink. | STEP 2: Pick the mug up off of the counter. | STEP 3: Turn right and walk to the fridge. | STEP 4: Put the mug in the fridge and close it. Wait a moment a take the mug out of the fridge again. | STEP 5: Turn around and veer right to the corner of the counter top with the coffee maker in it. | STEP 6: Put the cup in the coffee maker. | END