Task: Put two measuring cups in a drawer.

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          3.0            0              180            0
   1  Potato          -1.874         0.935          -1.610         0              0              0              68
   2  Potato          -1.648         0.370          0.013          0              90             0              91
   3  Ladle           0.214          0.969          0.970          0              0              0              76
   4  DishSponge      2.073          0.911          1.032          0              0              0              68
   5  DishSponge      -1.796         0.041          1.329          0              270            0              82
   6  Spoon           1.662          0.226          1.219          0              0              0              77
   7  Spoon           1.661          0.460          0.531          0              0              0              72
   8  Pot             -1.874         0.915          -1.415         0              0              0              68
   9  Cup             1.892          1.004          -0.756         0              270            0              89
  10  Cup             -0.106         0.923          1.202          0              0              0              76
  11  Plate           0.000          0.924          0.738          0              0              0              76
  12  Tomato          0.214          0.980          0.041          0              0              0              76
  13  Bowl            0.000          0.924          0.970          0              0              0              76
  14  SaltShaker      0.595          0.667          -1.332         0              0              0              49
  15  PepperShaker    -1.814         0.907          -1.113         0              0              0              68
  16  PepperShaker    -1.957         1.658          -1.207         0              90             0              55
  17  Bread           1.986          0.992          1.333          0              0              0              68
  18  Lettuce         -1.551         0.988          -1.013         0              0              0              68
  19  Lettuce         -0.320         1.002          0.041          0              0              0              76
  20  Mug             -1.783         0.834          0.201          0              90             0              91
  21  Apple           1.892          1.059          -0.599         0              270            0              89
  22  Apple           -1.803         1.522          0.201          0              90             0              91
  23  SoapBottle      1.640          0.915          1.333          0              0              0              68
  24  Cup             0.170          0.758          -1.490         0              0              0              92
  25  Pot             1.975          0.938          0.819          0              180            0              78
  26  Fork            -0.175         0.761          -1.435         0              0              0              92
  27  Ladle           -0.213         0.969          -0.190         0              0              0              76
  28  Kettle          -1.841         1.663          -1.056         0              90             0              55
  29  Egg             -1.692         0.620          0.013          0              90             0              91
  30  Plate           -1.197         0.112          -1.487         0              0              0              80
  31  Pan             1.765          0.938          0.384          0              180            0              71
  32  Lettuce         -0.320         1.002          0.970          0              0              0              76
  33  Spatula         -1.990         0.926          -0.914         0              180            0              68
  34  Apple           -0.088         0.813          -1.490         0              0              0              92
  35  Knife           1.653          0.933          0.103          0              270            0              68
  36  SaltShaker      0.000          0.921          1.202          0              0              0              76
  37  PepperShaker    0.321          0.921          0.273          0              0              0              76
  38  CellPhone       -0.106         0.923          -0.190         0              0              0              76
  39  ButterKnife     2.030          0.911          -1.415         0              0              0              68
  40  Bread           -0.106         1.006          0.273          0              0              0              76
  41  Tomato          -1.663         0.618          -0.175         0              90             0              91
  42  Potato          0.170          0.784          -1.380         0              0              0              92
  43  DishSponge      1.661          0.349          -0.020         0              0              0              64
  44  Spoon           1.764          0.581          0.531          0              0              0              72
  45  Mug             1.355          0.955          -1.362         0              0              0              90
  46  Bowl            -1.645         1.467          0.013          0              90             0              91
  47  Cabinet         -0.495         0.474          -1.149         0              0              0
  48  Window          -0.010         1.582          -1.821         0              0              0
  49  Drawer          0.805          0.475          -1.159         0              0              0
  50  StoveBurner     1.764          0.902          0.601          0              270            0
  51  Drawer          1.5            0.196          -0.019         0              0              0
  52  Drawer          1.5            0.629          -0.018         0              0              0
  53  Drawer          1.5            0.602          -0.019         0              270            0
  54  StoveBurner     1.975          0.902          0.384          0              270            0
  55  Cabinet         -1.703         2.022          -1.453         0              90             0
  56  Cabinet         1.789          2.019          -0.819         0              270            0
  57  Cabinet         0.494          0.474          -1.149         0              0              0
  58  Cabinet         0.409          0.475          0.444          0              0              0
  59  Drawer          -0.696         0.475          -1.159         0              0              0
  60  Drawer          1.5            0.140          0.599          0              270            0
  61  Cabinet         1.389          0.474          -1.149         0              0              0
  62  Drawer          1.5            0.305          0.600          0              0              0
  63  StoveBurner     1.975          0.902          0.601          0              270            0
  64  Drawer          1.5            0.429          -0.019         0              0              0
  65  StoveBurner     1.764          0.902          0.819          0              270            0
  66  Drawer          1.5            0.519          1.220          0              0              0
  67  Cabinet         1.705          2.019          -1.449         0              0              0
  68  CounterTop      0.002          0.947          -1.513         0              0              0
  69  Drawer          1.5            0.629          0.605          0              0              0
  70  Cabinet         -0.627         2.019          -1.449         0              0              0
  71  StoveBurner     1.764          0.902          0.384          0              270            0
  72  Drawer          1.5            0.538          0.600          0              0              0
  73  Sink            0.0            0.893          -1.434         0              0              0
  74  Drawer          1.5            0.782          1.220          0              270            0
  75  Window          2.217          1.565          -0.384         0              0              0
  76  CounterTop      -0.014         0.961          0.505          0              0              0
  77  Drawer          1.5            0.200          1.220          0              0              0
  78  StoveBurner     1.975          0.902          0.819          0              270            0
  79  Window          -3.240         1.616          2.693          0              270            0
  80  Cabinet         -1.389         0.474          -1.149         0              0              0
  81  LightSwitch     -0.153         1.291          3.700          0              180            0
  82  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  83  StoveKnob       1.602          0.917          0.570          0              270            180
  84  StoveKnob       1.602          0.917          0.625          0              270            180
  85  StoveKnob       1.602          0.917          0.739          0              270            180
  86  StoveKnob       1.602          0.917          0.680          0              270            180
  87  StoveKnob       1.602          0.917          0.462          0              270            180
  88  StoveKnob       1.602          0.917          0.517          0              270            180
  89  Microwave       1.932          0.899          -0.766         0              270            0
  90  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  91  Fridge          -1.764         0.0            0.014          0              90             0
  92  SinkBasin       -0.014         0.736          -1.435         0              0              0
  93  Toaster         1.977          0.900          -0.336         0              270            0
  94  Faucet          -0.020         1.137          -1.605         0              270            0
  95  Chair           -9.354         0.000          1.242          0              180            0
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: Turn left and take a few steps, then walk right to the far side kitchen island by the sink. | STEP 2: Pick up the measuring spoon. | STEP 3: Walk to the right of the island and go to the furthest part of the counter. | STEP 4: Put the measuring cup in the top drawer. | STEP 5: Turn around and take a step. | STEP 6: Pick up the measuring cup on the counter. | STEP 7: Turn around and look at the same part of the counter as before. | STEP 8: Put this measuring cup in the same drawer as the other one. | END