Task: Wash the mug and put it in the coffee machine.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          1.75           0              180            0
   1  Statue          -1.355         0.936          -0.643         0              0              0              61
   2  Potato          0.995          1.825          -1.132         0              270            0              83
   3  CellPhone       0.793          0.150          -0.690         0              270            0              64
   4  CellPhone       0.944          0.908          -0.208         0              0              0              62
   5  DishSponge      -1.363         0.553          2.770          0              0              0              87
   6  DishSponge      1.212          2.207          -1.082         0              270            0              68
   7  ButterKnife     0.859          0.911          -0.729         0              0              0              62
   8  Glassbottle     -0.587         0.781          -0.745         0              90             0              82
   9  Glassbottle     0.960          0.109          -1.972         0              0              0              66
  10  Fork            1.114          0.911          -0.555         0              90             0              62
  11  Spoon           -0.698         0.934          -1.463         0              0              0              61
  12  Spatula         0.915          0.510          -0.524         0              0              0              65
  13  Knife           -0.772         0.957          0.162          0              0              0              61
  14  Egg             -0.808         0.818          -0.832         0              90             0              82
  15  Egg             -1.101         0.216          0.576          0              180            0              81
  16  Cup             1.148          0.860          1.540          0              270            0              84
  17  Cup             0.905          1.399          0.967          0              270            0              84
  18  Tomato          0.905          1.175          1.540          0              270            0              84
  19  SoapBottle      1.082          2.208          -1.082         0              270            0              68
  20  PepperShaker    1.148          1.662          -2.166         0              270            0              60
  21  Lettuce         1.026          1.479          1.254          0              270            0              84
  22  Bread           -1.167         1.014          -0.118         0              0              0              61
  23  Mug             1.240          1.661          -0.529         0              0              0              70
  24  Mug             1.199          0.906          0.139          0              0              0              62
  25  Apple           -1.007         0.229          0.543          0              180            0              81
  26  Apple           1.060          1.845          -1.339         0              270            0              83
  27  Statue          0.773          0.914          -0.555         0              0              0              62
  28  Glassbottle     1.199          0.912          -0.729         0              0              0              62
  29  Bread           -1.355         1.014          0.144          0              0              0              61
  30  CreditCard      0.754          0.492          -0.731         0              270            0              65
  31  CellPhone       -0.846         0.930          0.086          0              0              0              61
  32  Potato          -0.920         0.963          0.315          0              0              0              61
  33  Knife           -0.550         0.957          -1.231         0              0              0              61
  34  Fork            0.875          0.703          -0.565         0              0              0              59
  35  Pan             0.848          0.946          -1.080         0              0              0              55
  36  Lettuce         1.029          0.988          -0.381         0              0              0              62
  37  Plate           0.905          1.138          1.063          0              270            0              84
  38  Apple           0.965          0.913          1.444          0              270            0              84
  39  Pot             1.077          0.950          -1.504         0              0              0              57
  40  Spatula         -1.104         0.948          -1.167         0              90             0              61
  41  PaperTowelRoll  0.688          1.015          -0.208         0              0              0              62
  42  Tomato          0.844          1.683          1.158          0              270            0              84
  43  Egg             -0.865         0.214          0.575          0              180            0              81
  44  SaltShaker      -1.881         0.550          2.822          0              0              0              87
  45  PepperShaker    -1.778         0.550          2.822          0              0              0              87
  46  Vase            -1.423         0.169          2.621          0              0              0              87
  47  ButterKnife     0.773          0.911          -1.879         0              0              0              67
  48  SoapBottle      1.102          1.666          -0.401         0              270            0              70
  49  Vase            -1.571         0.882          2.719          0              0              0              88
  50  Bowl            1.193          1.669          0.025          0              270            0              69
  51  DishSponge      1.029          0.910          -0.034         0              0              0              62
  52  Spoon           0.794          0.704          -0.690         0              270            0              59
  53  Cup             -0.808         0.773          -0.745         0              90             0              82
  54  Mug             1.240          1.661          -0.657         0              0              0              70
  55  StoveBurner     0.842          0.919          -1.098         0              0              0
  56  Cabinet         0.648          0.474          0.244          0              270            0
  57  StoveBurner     1.077          0.919          -1.504         0              0              0
  58  StoveBurner     0.842          0.919          -1.504         0              0              0
  59  Drawer          0.637          0.755          -0.649         0              270            0
  60  Cabinet         0.949          2.159          -2.375         0              270            0
  61  CounterTop      -1.238         0.968          -0.643         0              0              0
  62  CounterTop      0.931          0.946          -0.208         0              0              0
  63  StoveBurner     1.077          0.919          -1.098         0              0              0
  64  Drawer          0.637          0.268          -0.649         0              270            0
  65  Drawer          0.637          0.547          -0.649         0              270            0
  66  Cabinet         0.648          0.475          -1.714         0              0              0
  67  CounterTop      0.931          0.946          -2.051         0              0              0
  68  Cabinet         0.948          2.439          -1.780         0              270            0
  69  Cabinet         0.948          2.159          -0.140         0              270            0
  70  Cabinet         0.949          2.159          -0.758         0              270            0
  71  Sink            -0.699         0.927          -0.649         0              0              0
  72  LightSwitch     -2.371         1.218          3.049          0              180            0
  73  StoveKnob       0.673          0.899          -1.373         315            90             180
  74  StoveKnob       0.673          0.899          -1.519         315            90             180
  75  StoveKnob       0.673          0.899          -1.086         315            90             180
  76  StoveKnob       0.673          0.899          -1.237         315            90             180
  77  Toaster         0.984          0.900          0.329          0              270            0
  78  Window          0.014          0.998          -2.640         90             0              0
  79  Window          -2.996         0.998          -2.640         90             0              0
  80  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  81  GarbageCan      -0.946         -0.036         0.575          0              180            0
  82  SinkBasin       -0.698         0.765          -0.647         0              90             0
  83  Microwave       1.042          1.680          -1.295         0              270            0
  84  Fridge          0.966          0.0            1.253          0              0              0
  85  HousePlant      -1.354         0.919          -1.540         0              0              0
  86  Shelf           -1.635         0.172          2.715          0              180            0
  87  Shelf           -1.635         0.552          2.715          0              180            0
  88  Shelf           -1.635         0.880          2.715          0              180            0
  89  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  90  Chair           -1.832         0.002          -0.034         0              119.999        0
  91  Chair           -1.854         0.002          -0.956         0              67.887         0
  92  Faucet          -0.867         1.161          -0.651         0              0              0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Walk straight and face the toaster on the counter. | STEP 2: Pick up the mug from the counter. | STEP 3: Turn right and take the mug to the sink. | STEP 4: Put the mug in the sink, wash it and take it out. | STEP 5: Turn left and take the mug to the coffee machine. | STEP 6: Put the mug in the coffee machine. | END