Task: Fill a cup with water and place inside cabinet.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.931          -0.75          0              0              0
   1  Potato          -0.603         1.100          -1.505         0              0              0              41
   2  DishSponge      1.897          1.019          -1.484         0              0              0              47
   3  ButterKnife     -0.346         1.046          -1.289         0              0              0              41
   4  Kettle          0.250          1.057          -1.4           0              0              0              53
   5  Spoon           1.612          1.044          0.415          0              0              0              43
   6  Spatula         0.160          1.058          0.522          0              270            0              43
   7  Egg             -1.381         1.543          1.796          0              90             0              56
   8  Knife           0.239          1.072          -1.086         0              0              0              41
   9  Tomato          -1.312         1.764          1.974          0              90             0              56
  10  PepperShaker    1.894          0.199          -1.262         0              0              0              51
  11  PepperShaker    1.188          1.560          -1.388         0              0              0              45
  12  Lettuce         -1.342         1.548          1.974          0              90             0              56
  13  Mug             1.743          1.014          -1.264         0              0              0              47
  14  Mug             -1.145         1.711          -1.269         0              0              0              55
  15  SoapBottle      -0.517         1.047          -1.181         0              0              0              41
  16  Apple           0.989          1.090          -1.181         0              0              0              41
  17  Potato          0.282          1.085          0.120          0              0              0              43
  18  Fork            1.155          1.047          -1.397         0              0              0              41
  19  Kettle          -1.105         0.203          -1.410         0              0              0              49
  20  Pan             -0.473         1.564          -1.693         0              90             0              46
  21  Tomato          -1.431         1.279          1.974          0              90             0              56
  22  SaltShaker      0.989          1.041          -1.828         0              0              0              41
  23  Egg             -1.038         1.282          1.974          0              90             0              56
  24  Cup             1.589          1.020          -1.484         0              0              0              47
  25  Spatula         0.255          1.058          0.630          0              0              0              43
  26  Knife           -0.603         1.072          -1.289         0              0              0              41
  27  Lettuce         1.181          1.103          0.632          0              0              0              43
  28  ButterKnife     1.612          1.043          0.091          0              0              0              43
  29  PepperShaker    1.181          1.038          0.807          0              0              0              43
  30  DishSponge      1.894          0.204          -1.480         0              0              0              51
  31  Plate           1.036          1.577          -1.614         0              0              0              45
  32  Bread           0.406          1.104          0.353          0              337.138        0              43
  33  Spoon           0.989          1.048          -1.289         0              0              0              41
  34  Pot             0.389          1.053          -1.630         0              0              0              37
  35  Mug             -1.064         0.959          1.885          0              90             0              56
  36  Bowl            1.741          0.203          -1.335         0              0              0              51
  37  StoveBurner     0.389          1.043          -1.630         0              0              0
  38  SinkBasin       1.211          0.882          0.236          0              90             0
  39  Sink            0.928          0.941          0.324          0              90             0
  40  StoveBurner     0.000          1.048          -1.399         0              0              0
  41  CounterTop      0.196          1.082          -1.504         0              0              0
  42  StoveBurner     0.5            1.048          -1.399         0              0              0
  43  CounterTop      0.968          1.078          0.415          0              0              0
  44  StoveBurner     0.120          1.043          -1.630         0              0              0
  45  Cabinet         1.322          1.955          -1.309         0              0              0
  46  Cabinet         -0.866         1.955          -1.309         0              0              0
  47  Cabinet         1.993          1.403          -1.110         0              0              0
  48  Cabinet         -1.547         2.001          -1.110         0              0              0
  49  Cabinet         -1.526         0.593          -1.110         0              0              0
  50  Cabinet         -0.852         0.589          -1.110         0              0              0
  51  Cabinet         1.990          0.593          -1.110         0              0              0
  52  Cabinet         1.336          0.589          -1.110         0              0              0
  53  StoveBurner     0.250          1.048          -1.399         0              0              0
  54  Toaster         -0.550         1.035          -1.776         0              0              0
  55  Microwave       -1.189         1.624          -1.284         0              0              0
  56  Fridge          -1.286         0.020          1.832          0              90             0
  57  GarbageCan      1.856          -0.019         2.386          0              270            0
  58  LightSwitch     1.016          1.360          2.619          0              180            0
  59  CoffeeMachine   1.929          1.031          0.440          0              270            0
  60  StoveKnob       0.0            1.046          -1.220         0              0              0
  61  StoveKnob       0.090          1.046          -1.220         0              0              0
  62  StoveKnob       0.246          1.046          -1.220         0              0              0
  63  StoveKnob       0.490          1.046          -1.220         0              0              0
  64  StoveKnob       0.389          1.046          -1.220         0              0              0
  65  Faucet          1.277          1.265          0.384          0              90             0
  66  Chair           0.343          0.031          0.976          0              166.747        0
  67  Chair           1.008          0.031          1.034          0              180            0
  68  Chair           1.575          0.031          1.050          0              210.000        0
  69  NorthWall
  70  EastWall
  71  SouthWall
  72  WestWall

Plan:
STEP 1: Step forward, turn and head to the end cabinets on the right. | STEP 2: Open the top cabinet, pick up the green cup on the top right, close cabinet door. | STEP 3: Turn around and go to the kitchen sink. | STEP 4: Place the green cup into the sink, turn on faucet to fill cup, then turn off the faucet. | STEP 5: Turn around to face the kitchen counter with an apple. | STEP 6: Open the cabinet door directly under the apple, place the cup of water inside and close the door. | END