Task: Put a clean cup on the table.

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          0.5            0              0              0
   1  Pan             0.707          2.153          1.468          0              0              0              55
   2  Potato          2.591          1.053          -0.447         0              0              0              101
   3  Potato          2.838          1.053          -0.709         0              0              0              101
   4  DishSponge      2.223          0.114          1.119          0              0              0              82
   5  DishSponge      -0.734         0.820          -1.038         0              0              0              105
   6  ButterKnife     2.488          0.911          1.299          0              0              0              81
   7  Pot             2.715          1.567          -0.578         0              0              0              101
   8  Spatula         2.221          0.926          1.383          0              0              0              81
   9  Spatula         -0.983         0.835          -1.155         0              180            0              105
  10  Cup             2.900          1.561          -0.775         0              0              0              101
  11  Cup             2.962          1.561          -0.644         0              0              0              101
  12  Cup             0.103          1.653          -0.810         0              180            0              86
  13  Egg             0.570          1.822          1.488          0              180            0              104
  14  Egg             1.155          0.949          1.468          0              0              0              81
  15  Bowl            2.161          0.112          -0.498         0              270            0              87
  16  Bowl            2.754          0.909          1.299          0              0              0              81
  17  SaltShaker      -0.151         0.908          1.129          0              0              0              57
  18  PepperShaker    -0.198         0.908          1.044          0              0              0              57
  19  Bread           2.715          1.346          -0.644         0              0              0              101
  20  Lettuce         -0.246         0.992          1.383          0              0              0              57
  21  Mug             3.381          0.835          -0.514         0              0              0              101
  22  Mug             1.428          0.968          -0.577         0              0              0              46
  23  SoapBottle      1.247          0.120          -0.383         0              180            0              54
  24  Plate           2.211          0.902          -0.462         0              0              0              46
  25  Fork            -0.887         0.821          -1.400         0              90             0              105
  26  Pot             0.281          0.964          1.082          0              0              0              52
  27  Bread           1.029          0.953          -0.519         0              0              0              46
  28  Egg             -1.962         0.461          1.459          0              270            0              99
  29  Kettle          1.688          0.912          1.299          0              0              0              81
  30  Tomato          2.962          1.050          -0.709         0              0              0              101
  31  Cup             2.770          1.652          1.470          0              0              0              47
  32  Spatula         0.263          0.780          -0.596         0              270            0              103
  33  Apple           1.422          0.980          1.468          0              0              0              81
  34  Pan             0.637          0.960          1.090          0              0              0              49
  35  Lettuce         1.155          0.992          1.299          0              0              0              81
  36  SaltShaker      0.888          0.908          -0.345         0              0              0              46
  37  Knife           -0.983         0.853          -1.206         0              180            0              105
  38  Potato          2.221          0.946          1.468          0              0              0              81
  39  PepperShaker    1.955          0.908          1.129          0              0              0              81
  40  ButterKnife     1.141          0.901          -0.6           0              0              0              46
  41  Bowl            -0.785         0.818          -1.400         0              0              0              105
  42  DishSponge      0.862          1.655          -0.732         0              180            0              56
  43  Spoon           2.488          0.912          1.129          0              0              0              81
  44  Mug             -0.983         0.815          -1.360         0              90             0              105
  45  Sink            0.050          0.902          -0.648         0              0              0
  46  CounterTop      1.358          0.947          -0.600         0              0              0
  47  Cabinet         2.986          2.009          1.304          0              0              0
  48  Cabinet         1.022          2.009          -0.607         0              180            0
  49  StoveBurner     0.678          0.923          1.082          0              0              0
  50  Cabinet         2.371          0.402          0.995          0              0              0
  51  Drawer          -0.125         0.792          0.995          0              0              0
  52  StoveBurner     0.281          0.923          1.082          0              0              0
  53  Cabinet         1.025          0.402          0.995          0              0              0
  54  Cabinet         1.023          0.402          -0.296         0              180            0
  55  Cabinet         0.974          2.259          1.304          0              0              0
  56  Cabinet         0.979          2.009          -0.607         0              180            0
  57  CounterTop      -0.158         0.947          1.299          0              0              0
  58  Cabinet         1.725          2.009          1.304          0              0              0
  59  Drawer          2.205          0.792          -0.294         0              180            0
  60  Drawer          1.869          0.792          -0.294         0              180            0
  61  StoveBurner     0.281          0.923          1.347          0              0              0
  62  Drawer          2.512          0.792          0.995          0              0              0
  63  Cabinet         1.673          0.402          -0.296         0              180            0
  64  Drawer          1.524          0.792          0.995          0              0              0
  65  Drawer          1.174          0.792          -0.294         0              180            0
  66  Cabinet         1.720          0.402          0.995          0              0              0
  67  Cabinet         2.348          2.009          -0.607         0              180            0
  68  Cabinet         1.676          2.009          -0.607         0              180            0
  69  Cabinet         1.673          2.009          1.304          0              0              0
  70  Cabinet         2.326          2.009          1.304          0              0              0
  71  Cabinet         2.370          2.009          1.304          0              0              0
  72  Cabinet         0.021          2.009          1.304          0              0              0
  73  Cabinet         1.025          2.009          1.304          0              0              0
  74  Cabinet         -0.274         0.402          0.995          0              0              0
  75  Cabinet         1.675          0.402          0.995          0              0              0
  76  Drawer          1.524          0.792          -0.294         0              180            0
  77  Drawer          2.187          0.792          0.995          0              0              0
  78  Cabinet         2.977          0.402          0.995          0              0              0
  79  Drawer          1.862          0.792          0.995          0              0              0
  80  Cabinet         0.072          2.259          1.304          0              0              0
  81  CounterTop      1.917          0.947          1.299          0              0              0
  82  Cabinet         2.328          0.402          0.995          0              0              0
  83  Cabinet         1.723          2.009          -0.607         0              180            0
  84  StoveBurner     0.677          0.923          1.345          0              0              0
  85  Cabinet         0.355          2.009          -0.607         0              180            0
  86  Cabinet         0.332          2.009          -0.607         0              180            0
  87  Cabinet         2.349          0.402          -0.296         0              180            0
  88  Cabinet         -0.284         2.009          -0.607         0              180            0
  89  Faucet          0.061          0.906          -0.903         0              0              0
  90  Drawer          2.837          0.792          0.995          0              0              0
  91  Drawer          1.175          0.792          0.995          0              0              0
  92  Cabinet         1.723          0.402          -0.296         0              180            0
  93  StoveKnob       0.588          1.093          1.557          287.970        0              0
  94  StoveKnob       0.188          1.093          1.557          287.970        0              0
  95  StoveKnob       0.749          1.093          1.557          287.970        0              0
  96  StoveKnob       0.338          1.093          1.557          287.970        0              0
  97  Toaster         1.934          0.900          -0.717         0              0              0
  98  LightSwitch     -1.662         1.427          1.649          0              180            0
  99  GarbageCan      -1.965         -0.029         1.358          0              270            0
 100  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 101  Fridge          3.043          0.0            -0.709         0              0              0
 102  Window          -2.183         1.501          -0.014         90             270            0
 103  SinkBasin       0.043          0.755          -0.651         0              0              0
 104  Microwave       0.531          1.675          1.437          0              180            0
 105  DiningTable     -0.836         8.404          -1.258         0              0              0
 106  Chair           -1.611         0.002          -1.185         0              45             0
 107  NorthWall
 108  EastWall
 109  SouthWall
 110  WestWall

Plan:
STEP 1: Turn around and walk to the sink. | STEP 2: Look up and open the cabinet that's above the left side of the sink and get the cup down from there then close the door. | STEP 3: Take a small step to your right. | STEP 4: Wash the cup in the sink and then pick it back up and shut off the water. | STEP 5: Turn right and then walk two steps then turn left and walk to the small circular table. | STEP 6: Put the cup to the right of the sponge. | END