Task: Rinse a mug and take it to 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           -2.75          0.900          -1.0           0              90             0
   1  Statue          1.114          0.914          -0.034         0              0              0              55
   2  CreditCard      1.199          0.908          -1.879         0              0              0              60
   3  CellPhone       -1.418         0.930          -0.380         0              0              0              54
   4  DishSponge      0.915          0.702          -0.731         0              270            0              52
   5  Glassbottle     -0.753         0.781          -0.659         0              90             0              75
   6  Glassbottle     -0.865         0.177          0.608          0              180            0              74
   7  Fork            0.859          0.911          -0.381         0              0              0              55
   8  Spoon           0.773          0.912          0.313          0              0              0              55
   9  Egg             -1.292         0.971          -0.905         0              0              0              54
  10  Egg             -1.041         0.971          0.144          0              0              0              54
  11  Plate           1.102          1.669          -0.401         0              270            0              63
  12  SaltShaker      -0.550         0.929          -1.308         0              0              0              54
  13  SaltShaker      0.794          0.490          -0.731         0              270            0              58
  14  PepperShaker    1.199          0.907          -1.965         0              0              0              60
  15  PepperShaker    0.859          0.907          -1.793         0              0              0              60
  16  Bread           -1.292         1.014          0.144          0              0              0              54
  17  Mug             1.199          0.906          -0.208         0              0              0              55
  18  Apple           1.060          1.845          -1.339         0              270            0              76
  19  Apple           0.688          0.961          -2.051         0              0              0              60
  20  Statue          -1.816         0.871          2.754          0              180            0              54
  21  Glassbottle     -0.698         0.934          0.086          0              0              0              54
  22  Bread           1.026          0.944          1.349          0              270            0              77
  23  CreditCard      -0.550         0.930          -1.154         0              0              0              54
  24  CellPhone       0.773          0.908          -1.879         0              0              0              60
  25  Potato          -1.167         0.963          -0.118         0              0              0              54
  26  Knife           -0.624         0.957          -1.463         0              0              0              54
  27  Fork            -1.104         0.934          -0.643         0              0              0              54
  28  Pan             0.848          0.946          -1.080         0              0              0              48
  29  Lettuce         0.965          1.479          1.444          0              270            0              77
  30  Plate           1.101          1.669          -2.097         0              270            0              53
  31  Apple           0.773          0.961          0.139          0              0              0              55
  32  Pot             1.077          0.950          -1.504         0              0              0              50
  33  Spatula         -0.642         0.791          -0.486         0              0              0              75
  34  PaperTowelRoll  -1.469         0.986          2.665          0              0              0              81
  35  Tomato          1.029          0.952          -1.793         0              0              0              60
  36  Egg             -1.054         0.214          0.608          0              180            0              74
  37  SaltShaker      0.713          0.150          -0.571         0              270            0              57
  38  PepperShaker    1.147          1.662          0.280          0              270            0              62
  39  Vase            1.126          2.207          -1.299         0              270            0              61
  40  ButterKnife     1.029          0.911          -0.381         0              0              0              55
  41  SoapBottle      -1.571         0.882          2.746          0              0              0              81
  42  Vase            -0.846         0.934          -1.540         0              0              0              54
  43  Bowl            1.199          0.914          -0.555         0              0              0              55
  44  DishSponge      0.875          0.493          -0.648         0              270            0              58
  45  Spoon           -1.104         0.934          0.144          0              0              0              54
  46  Cup             0.761          0.105          -1.812         0              0              0              59
  47  Mug             1.026          1.129          1.444          0              270            0              77
  48  StoveBurner     0.842          0.919          -1.098         0              0              0
  49  Cabinet         0.648          0.474          0.244          0              270            0
  50  StoveBurner     1.077          0.919          -1.504         0              0              0
  51  StoveBurner     0.842          0.919          -1.504         0              0              0
  52  Drawer          0.637          0.755          -0.649         0              270            0
  53  Cabinet         0.949          2.159          -2.375         0              270            0
  54  CounterTop      -1.238         0.968          -0.643         0              0              0
  55  CounterTop      0.931          0.946          -0.208         0              0              0
  56  StoveBurner     1.077          0.919          -1.098         0              0              0
  57  Drawer          0.637          0.268          -0.649         0              270            0
  58  Drawer          0.637          0.547          -0.649         0              270            0
  59  Cabinet         0.648          0.475          -1.714         0              0              0
  60  CounterTop      0.931          0.946          -2.051         0              0              0
  61  Cabinet         0.948          2.439          -1.780         0              270            0
  62  Cabinet         0.948          2.159          -0.140         0              270            0
  63  Cabinet         0.949          2.159          -0.758         0              270            0
  64  Sink            -0.699         0.927          -0.649         0              0              0
  65  LightSwitch     -2.371         1.218          3.049          0              180            0
  66  StoveKnob       0.673          0.899          -1.373         315            90             180
  67  StoveKnob       0.673          0.899          -1.519         315            90             180
  68  StoveKnob       0.673          0.899          -1.086         315            90             180
  69  StoveKnob       0.673          0.899          -1.237         315            90             180
  70  Toaster         0.984          0.900          0.329          0              270            0
  71  Window          0.014          0.998          -2.640         90             0              0
  72  Window          -2.996         0.998          -2.640         90             0              0
  73  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  74  GarbageCan      -0.946         -0.036         0.575          0              180            0
  75  SinkBasin       -0.698         0.765          -0.647         0              90             0
  76  Microwave       1.042          1.680          -1.295         0              270            0
  77  Fridge          0.966          0.0            1.253          0              0              0
  78  HousePlant      -1.354         0.919          -1.540         0              0              0
  79  Shelf           -1.635         0.172          2.715          0              180            0
  80  Shelf           -1.635         0.552          2.715          0              180            0
  81  Shelf           -1.635         0.880          2.715          0              180            0
  82  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  83  Chair           -1.832         0.002          -0.034         0              119.999        0
  84  Chair           -1.854         0.002          -0.956         0              67.887         0
  85  Faucet          -0.867         1.161          -0.651         0              0              0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn to the left, and then the right and right again to the back of the kitchen. | STEP 2: Pick up the mug from the middle of the counter. | STEP 3: Take the mug and turn around to the sink. | STEP 4: Place the mug in the sink, turn the water on and then off. Pick up the mug. | STEP 5: Carry the mug and move to the right, and face left to the coffee machine. | STEP 6: Place the mug under the coffee machine. | END