Task: To clean a mug and put the 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           -1.5           0.900          -1.0           0              90             0
   1  Pan             1.007          0.962          0.293          0              180            0              56
   2  Spatula         1.601          0.927          0.209          0              90             0              59
   3  Spatula         -2.614         0.967          0.435          0              180            0              77
   4  Cup             -0.544         0.910          -1.737         0              0              0              44
   5  Cup             -1.959         1.050          -1.806         0              0              0              74
   6  SoapBottle      0.172          0.105          0.320          0              0              0              54
   7  SoapBottle      0.701          0.918          -1.649         0              270            0              42
   8  Tomato          -1.791         1.001          0.345          0              90             0              77
   9  Tomato          -0.361         0.119          0.439          0              90             0              73
  10  SaltShaker      0.167          0.908          0.209          0              0              0              43
  11  PepperShaker    -2.614         0.948          0.165          0              90             0              77
  12  Bread           -1.959         1.575          -1.763         0              0              0              74
  13  Lettuce         1.535          1.002          -1.737         0              0              0              44
  14  Lettuce         -2.047         0.871          -1.763         0              0              0              74
  15  Bread           -2.31          0.594          -1.763         0              0              0              74
  16  Knife           1.663          0.937          0.458          0              90             0              59
  17  Fork            1.781          0.912          -1.571         0              0              0              44
  18  Bowl            1.828          1.328          -1.846         0              180            0              60
  19  Kettle          1.007          0.962          0.561          0              270            0              46
  20  Cup             0.908          0.917          -1.582         0              270            0              42
  21  Tomato          -2.065         1.001          0.524          0              90             0              77
  22  SoapBottle      -1.791         0.950          0.614          0              90             0              77
  23  Plate           -2.203         0.953          0.255          0              90             0              77
  24  Pot             -2.383         0.94           0.583          0              0              0              77
  25  Spatula         0.856          0.934          -1.449         0              0              0              42
  26  PaperTowelRoll  -0.359         1.016          -1.903         0              0              0              44
  27  Egg             -2.614         0.987          0.255          0              90             0              77
  28  Lettuce         1.785          1.002          0.292          0              0              0              59
  29  SaltShaker      0.300          0.908          0.292          0              0              0              43
  30  PepperShaker    -0.544         0.908          -1.903         0              0              0              44
  31  Apple           -2.065         1.019          0.704          0              90             0              77
  32  ButterKnife     -2.477         0.952          0.704          0              180            0              77
  33  Potato          -1.928         0.982          0.704          0              90             0              77
  34  Pan             1.361          0.962          0.561          0              270            0              49
  35  DishSponge      -2.614         0.951          0.524          0              90             0              77
  36  Spoon           0.649          0.920          -1.516         0              270            0              42
  37  Mug             -1.079         1.010          -1.803         0              90             0              66
  38  Cabinet         -0.193         1.688          -1.648         0              180            0
  39  StoveBurner     1.360          0.957          0.293          0              180            0
  40  Drawer          0.499          0.792          0.296          0              0              0
  41  Cabinet         0.095          0.400          -1.352         0              180            0
  42  Sink            0.711          0.817          -1.772         0              270            0
  43  CounterTop      0.280          0.947          0.458          0              0              0
  44  CounterTop      -0.680         0.947          -1.654         0              0              0
  45  Drawer          1.825          0.792          0.296          0              0              0
  46  StoveBurner     1.007          0.957          0.561          0              270            0
  47  Drawer          -0.150         0.792          -1.496         0              0              0
  48  Drawer          -0.586         0.792          -1.496         0              0              0
  49  StoveBurner     1.360          0.957          0.561          0              270            0
  50  Drawer          0.024          0.792          0.296          0              0              0
  51  Cabinet         1.079          0.400          -1.349         0              180            0
  52  Cabinet         1.669          0.402          0.151          0              0              0
  53  Cabinet         0.055          0.402          -1.351         0              0              0
  54  Cabinet         -0.180         0.402          0.151          0              0              0
  55  Cabinet         0.729          0.402          0.151          0              0              0
  56  StoveBurner     1.007          0.957          0.293          0              180            0
  57  Drawer          -1.100         0.792          -1.496         0              0              0
  58  Cabinet         -0.396         0.402          -1.351         0              0              0
  59  CounterTop      1.776          0.947          0.458          0              0              0
  60  Cabinet         1.974          1.688          -1.648         0              180            0
  61  Cabinet         -0.820         0.400          -1.349         0              180            0
  62  Toaster         0.305          0.900          0.552          0              180            0
  63  LightSwitch     -2.756         1.307          -0.987         0              90             0
  64  Window          0.582          1.613          -1.967         90             0              0
  65  Window          1.969          1.5            -0.615         90             270            0
  66  Microwave       -1.037         0.900          -1.723         0              0              0
  67  SinkBasin       0.377          0.765          -1.655         0              270            0
  68  CoffeeMachine   0.618          0.900          0.600          0              180            0
  69  StoveKnob       1.246          0.913          0.118          45             180            0
  70  StoveKnob       1.373          0.913          0.118          45             180            0
  71  StoveKnob       0.995          0.913          0.118          45             180            0
  72  StoveKnob       1.126          0.913          0.118          45             180            0
  73  GarbageCan      -0.368         -0.029         0.539          0              90             0
  74  Fridge          -2.134         0.0            -1.690         0              0              0
  75  Faucet          0.549          1.046          -1.833         0              232.527        0
  76  Stool           -1.475         0.000          0.414          1.233          280.375        0
  77  DiningTable     -2.255         -0.004         0.432          0              0              0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn right to face the microwave.  | STEP 2: Open the microwave door, pick up the dirty mug, close the door.  | STEP 3: Turn left, walk over to the sink on the right.  | STEP 4: Put the mug down in the sink, clean the mug, pick up the mug.  | STEP 5: Turn around and walk to the counter to the left of the stove.  | STEP 6: Put the mug down in the coffee maker.  | END