Task: Clean a mug to place on 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: Move to the white fridge in the corner of the room | STEP 2: Open the fridge and remove the dirty mug from the fridge | STEP 3: Carry the mug over to the sink  | STEP 4: Wash the mug in the sink then remove it | STEP 5: Carry the mug to the blue coffee maker on top of the counter | STEP 6: Place the mug under the coffee maker on the counter | END