Task: drop a clean mug 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           -1.0           0.901          2.75           0              180            0
   1  Potato          -2.706         0.961          3.395          0              0              0              54
   2  Potato          -0.228         0.926          3.334          0              0              0              70
   3  Spatula         -1.180         0.810          0.281          0              90             0              65
   4  Spatula         -2.583         0.915          2.309          0              0              0              68
   5  Spoon           -1.007         0.797          0.281          0              0              0              65
   6  Spoon           -2.706         0.936          3.302          0              0              0              54
   7  Cup             -2.583         0.900          2.706          0              0              0              68
   8  Plate           -0.486         0.904          2.530          0              0              0              70
   9  Plate           -0.692         1.777          0.160          0              0              0              45
  10  SoapBottle      -2.628         0.935          3.766          0              90             0              54
  11  Tomato          -2.816         0.117          0.453          0              26.101         0              61
  12  SaltShaker      -1.662         0.658          0.409          0              0              0              50
  13  Mug             -2.785         0.294          4.501          0              90             0              64
  14  Apple           -2.377         0.956          2.309          0              0              0              68
  15  Egg             -1.353         0.830          0.226          0              0              0              65
  16  Plate           -2.738         0.303          4.278          0              90             0              64
  17  Fork            -2.170         0.928          0.602          0              0              0              47
  18  Bread           -2.864         0.940          1.983          0              0              0              68
  19  Apple           -0.350         1.079          0.267          0              0              0              66
  20  Lettuce         -2.847         1.266          4.501          0              90             0              64
  21  Spatula         -1.770         0.943          0.433          0              0              0              47
  22  Knife           -2.431         0.688          0.355          0              90             0              55
  23  Potato          -0.191         1.044          0.235          0              0              0              66
  24  Tomato          -2.943         0.999          3.302          0              0              0              54
  25  Cup             -0.228         0.900          2.530          0              0              0              70
  26  SaltShaker      -0.657         0.896          2.932          0              0              0              70
  27  PepperShaker    -0.314         0.896          2.731          0              0              0              70
  28  ButterKnife     -2.480         0.900          2.706          0              0              0              68
  29  SoapBottle      -0.572         0.900          3.334          0              0              0              70
  30  Pan             -0.254         0.928          4.274          0              0              0              52
  31  DishSponge      -2.215         0.661          0.409          0              0              0              55
  32  Pot             -2.476         0.889          2.050          0              0              0              68
  33  Spoon           -0.314         0.901          2.329          0              0              0              70
  34  Mug             -2.778         1.001          3.714          0              90             0              67
  35  Bowl            -1.746         1.770          0.251          0              0              0              42
  36  Drawer          -0.325         0.696          0.413          0              0              0
  37  Cabinet         -0.595         0.490          0.648          0              0              0
  38  Cabinet         -0.555         0.490          0.646          0              0              0
  39  Cabinet         -1.591         0.490          0.646          0              0              0
  40  Cabinet         -1.554         0.490          0.646          0              0              0
  41  Cabinet         -2.550         0.490          0.646          0              0              0
  42  Cabinet         -1.514         2.046          0.392          0              0              0
  43  Cabinet         -2.474         2.046          0.392          0              0              0
  44  Cabinet         -1.478         2.046          0.392          0              0              0
  45  Cabinet         -0.518         2.046          0.392          0              0              0
  46  Cabinet         -0.479         2.046          0.392          0              0              0
  47  CounterTop      -1.366         0.952          0.349          0              0              0
  48  Sink            -1.108         0.926          0.340          0              0              0
  49  StoveBurner     -0.254         0.922          4.672          0              0              0
  50  Drawer          -1.824         0.696          0.413          0              0              0
  51  StoveBurner     -0.535         0.922          4.274          0              0              0
  52  StoveBurner     -0.254         0.922          4.274          0              0              0
  53  StoveBurner     -0.536         0.922          4.672          0              0              0
  54  CounterTop      -2.780         0.971          3.487          0              0              0
  55  Drawer          -2.323         0.696          0.413          0              0              0
  56  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  57  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  58  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  59  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  60  Toaster         -0.286         0.861          3.520          0              270            0
  61  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  62  LightSwitch     -0.064         1.447          1.996          0              270            0
  63  Window          -3.075         1.593          1.361          90             90             0
  64  Fridge          -2.802         0.0            4.427          0              0              0
  65  SinkBasin       -1.106         0.785          0.337          0              0              0
  66  Microwave       -0.358         0.917          0.224          0              0              0
  67  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  68  DiningTable     -2.733         -0.003         2.607          0              270            0
  69  Faucet          -1.077         0.920          0.028          270            270            0
  70  DiningTable     -0.488         -0.003         3.182          0              270            0
  71  NorthWall
  72  EastWall
  73  SouthWall
  74  WestWall

Plan:
STEP 1: turn right to the coffee maker | STEP 2: pick up the mug | STEP 3: turn left to the sink | STEP 4: wash the mug in the sink | STEP 5: turn around to the coffee maker  | STEP 6: drop the mug on the coffee maker | END