Task: To rinse off a mug and place it 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           -1.25          0.901          3.75           0              270            0
   1  Potato          -2.628         0.961          3.209          0              0              0              55
   2  Potato          -2.303         0.954          0.602          0              0              0              48
   3  ButterKnife     -1.904         0.928          0.602          0              0              0              48
   4  ButterKnife     -2.377         0.662          0.464          0              0              0              56
   5  Spoon           -2.628         0.936          3.766          0              0              0              55
   6  Spoon           -2.269         0.663          0.300          0              0              0              56
   7  Fork            -2.583         0.901          2.309          0              0              0              69
   8  Egg             -2.738         0.332          4.204          0              90             0              Floor|-00.05|
   9  Egg             -0.297         1.051          0.299          0              0              0              67
  10  Cup             -0.657         0.900          2.329          0              0              0              71
  11  Tomato          -2.583         0.964          2.573          0              0              0              69
  12  Bowl            -2.764         1.182          4.427          0              90             0              65
  13  SaltShaker      -0.572         0.896          2.731          0              0              0              71
  14  SaltShaker      -2.995         0.896          2.045          0              0              0              69
  15  Bread           -2.789         0.957          2.309          0              0              0              69
  16  Egg             -1.094         0.829          0.281          0              0              0              66
  17  Plate           -2.892         0.904          2.706          0              0              0              69
  18  Fork            -2.549         0.936          3.488          0              90             0              55
  19  Bread           -0.486         0.957          2.530          0              0              0              71
  20  Apple           -2.805         1.242          4.649          0              90             0              65
  21  Lettuce         -2.797         0.594          4.576          0              0              0              65
  22  Spatula         -2.583         0.915          2.045          0              0              0              69
  23  Knife           -2.628         0.961          3.395          0              90             0              55
  24  Potato          -1.266         0.822          0.281          0              0              0              66
  25  Tomato          -0.314         0.964          2.731          0              0              0              71
  26  Cup             -0.403         1.018          0.235          0              0              0              67
  27  SaltShaker      -2.480         0.896          2.309          0              0              0              69
  28  PepperShaker    -0.304         1.769          0.114          0              0              0              46
  29  ButterKnife     -2.037         0.928          0.433          0              0              0              48
  30  SoapBottle      -0.657         0.900          2.731          0              270            0              71
  31  Pan             -0.254         0.928          4.672          0              0              0              50
  32  DishSponge      -1.083         1.773          0.251          0              0              0              45
  33  Pot             -0.535         0.928          4.274          0              0              0              52
  34  Spoon           -2.785         0.936          3.209          0              0              0              55
  35  Mug             -2.925         0.294          4.649          0              180            0              Floor|-00.05|
  36  Bowl            -1.358         1.770          0.251          0              0              0              45
  37  Drawer          -0.325         0.696          0.413          0              0              0
  38  Cabinet         -0.595         0.490          0.648          0              0              0
  39  Cabinet         -0.555         0.490          0.646          0              0              0
  40  Cabinet         -1.591         0.490          0.646          0              0              0
  41  Cabinet         -1.554         0.490          0.646          0              0              0
  42  Cabinet         -2.550         0.490          0.646          0              0              0
  43  Cabinet         -1.514         2.046          0.392          0              0              0
  44  Cabinet         -2.474         2.046          0.392          0              0              0
  45  Cabinet         -1.478         2.046          0.392          0              0              0
  46  Cabinet         -0.518         2.046          0.392          0              0              0
  47  Cabinet         -0.479         2.046          0.392          0              0              0
  48  CounterTop      -1.366         0.952          0.349          0              0              0
  49  Sink            -1.108         0.926          0.340          0              0              0
  50  StoveBurner     -0.254         0.922          4.672          0              0              0
  51  Drawer          -1.824         0.696          0.413          0              0              0
  52  StoveBurner     -0.535         0.922          4.274          0              0              0
  53  StoveBurner     -0.254         0.922          4.274          0              0              0
  54  StoveBurner     -0.536         0.922          4.672          0              0              0
  55  CounterTop      -2.780         0.971          3.487          0              0              0
  56  Drawer          -2.323         0.696          0.413          0              0              0
  57  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  58  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  59  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  60  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  61  Toaster         -0.286         0.861          3.520          0              270            0
  62  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  63  LightSwitch     -0.064         1.447          1.996          0              270            0
  64  Window          -3.075         1.593          1.361          90             90             0
  65  Fridge          -2.802         0.0            4.427          0              0              0
  66  SinkBasin       -1.106         0.785          0.337          0              0              0
  67  Microwave       -0.358         0.917          0.224          0              0              0
  68  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  69  DiningTable     -2.733         -0.003         2.607          0              270            0
  70  Faucet          -1.077         0.920          0.028          270            270            0
  71  DiningTable     -0.488         -0.003         3.182          0              270            0
  72  NorthWall
  73  EastWall
  74  SouthWall
  75  WestWall

Plan:
STEP 1: Walk to the front of the fridge.  | STEP 2: Open the fridge door, take out a cup from the second shelf, close the fridge door.  | STEP 3: Turn left and walk to the kitchen sink.  | STEP 4: Place the mug inside of the sink and to the left of the egg, turn the water on and rinse off the mug, turn the water off, pick up the mug from the sink.  | STEP 5: Turn around and walk to the counter to the left of the fridge with the coffee maker on it.  | STEP 6: Place the mug in the coffee maker.  | END