Task: Put a clean cup under a 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           1.75           0.900          2.0            0              270            0
   1  Pan             -2.59          0.9            -1.147         0              0              0              76
   2  Potato          -0.598         0.933          -1.119         0              47.530         0              76
   3  CreditCard      0.262          1.108          1.910          0              315            0              69
   4  CreditCard      -2.438         0.908          0.106          0              0              0              76
   5  Kettle          -2.772         1.665          0.233          0              0              0              62
   6  Pot             -2.740         1.674          0.852          0              90             0              88
   7  Spoon           -0.133         0.912          -1.365         0              0              0              76
   8  Spoon           -2.604         0.912          0.190          0              180            0              68
   9  Fork            -1.418         0.852          -1.194         0              90             0              86
  10  Spatula         -2.438         0.926          0.021          0              90             0              68
  11  Cup             -1.505         0.848          -1.194         0              0              0              86
  12  Cup             -2.619         0.818          0.852          0              90             0              88
  13  Plate           -2.773         1.796          -0.376         0              0              0              48
  14  Plate           -2.773         1.796          -0.731         0              0              0              47
  15  Egg             0.842          0.946          -1.449         0              0              0              76
  16  Egg             -2.757         0.071          1.536          0              0              0              87
  17  SoapBottle      0.688          0.912          -1.199         0              0              0              76
  18  Tomato          -1.246         0.899          -1.305         0              0              0              86
  19  Tomato          -2.800         1.523          0.609          0              90             0              88
  20  Bowl            -2.860         1.473          0.851          0              90             0              88
  21  Lettuce         0.913          1.190          0.806          0              315            0              69
  22  Lettuce         -0.168         1.190          1.435          0              315            0              69
  23  PepperShaker    -1.155         1.658          -1.284         0              0              0              65
  24  PepperShaker    -2.015         1.658          -1.284         0              0              0              51
  25  Bread           -2.800         0.432          0.852          0              90             0              88
  26  Apple           0.284          1.154          1.580          0              0              0              69
  27  Fork            -2.853         0.911          -0.062         0              0              0              68
  28  Kettle          -1.933         0.912          -1.032         0              0              0              76
  29  CreditCard      0.471          1.108          1.402          0              315            0              69
  30  Bread           0.740          1.166          0.979          0              315            0              69
  31  Plate           -2.811         2.045          0.790          0              0              0              66
  32  SoapBottle      0.809          1.663          -1.284         0              0              0              54
  33  Spatula         -2.542         0.761          0.226          0              270            0              74
  34  Lettuce         0.997          0.990          -1.199         0              0              0              76
  35  SaltShaker      -2.695         0.9            -0.132         0              0              0              68
  36  Tomato          -2.757         0.087          1.396          0              0              0              87
  37  PepperShaker    0.284          1.658          -1.246         0              0              0              55
  38  ButterKnife     -2.222         0.9            -0.997         0              323.977        0              76
  39  Pot             -0.344         0.912          -1.032         0              0              0              76
  40  DishSponge      -1.221         0.841          -1.126         0              41.164         0              86
  41  Egg             -2.699         0.071          1.571          0              0              0              87
  42  Spoon           0.842          0.912          -1.199         0              0              0              76
  43  Knife           0.060          1.106          1.587          270            209.997        0              69
  44  Cup             0.756          0.115          -1.052         0              0              0              56
  45  Mug             0.372          1.654          -1.353         0              0              0              55
  46  Bowl            -1.602         1.661          -1.360         0              0              0              50
  47  Cabinet         -2.647         2.075          -0.875         0              0              0
  48  Cabinet         -2.647         2.075          -0.234         0              0              0
  49  Cabinet         -0.824         0.469          -0.907         0              0              0
  50  Cabinet         -1.764         2.009          -1.197         0              0              0
  51  Cabinet         -1.834         2.009          -1.197         0              0              0
  52  Cabinet         -1.850         0.389          -0.897         0              0              0
  53  Cabinet         -1.801         0.469          -0.907         0              0              0
  54  Cabinet         1.115          2.009          -1.197         0              0              0
  55  Cabinet         0.235          2.009          -1.197         0              0              0
  56  Cabinet         1.125          0.470          -0.897         0              0              0
  57  Cabinet         -2.387         0.389          0.375          0              0              0
  58  Cabinet         0.484          0.389          -0.897         0              0              0
  59  Cabinet         -2.625         2.009          -1.197         0              0              0
  60  Cabinet         -2.647         2.009          -0.945         0              0              0
  61  Cabinet         -2.647         2.200          1.664          0              0              0
  62  Cabinet         -2.647         2.009          0.364          0              0              0
  63  Cabinet         0.164          2.009          -1.197         0              0              0
  64  Cabinet         -0.765         2.009          -1.197         0              0              0
  65  Cabinet         -0.834         2.009          -1.197         0              0              0
  66  Cabinet         -2.647         2.200          0.434          0              0              0
  67  StoveBurner     -2.622         0.886          -0.711         0              0              0
  68  CounterTop      -2.699         0.946          0.106          0              0              0
  69  CounterTop      0.908          1.147          0.788          0              315            0
  70  StoveBurner     -2.622         0.886          -0.396         0              0              0
  71  Drawer          -2.026         0.779          -1.082         0              0              0
  72  Sink            -1.328         0.916          -1.225         0              0              0
  73  StoveBurner     -2.822         0.886          -0.711         0              0              0
  74  Drawer          -2.572         0.779          0.099          0              0              0
  75  StoveBurner     -2.822         0.886          -0.396         0              0              0
  76  CounterTop      0.071          0.946          -1.199         0              0              0
  77  Drawer          0.254          0.779          -1.082         0              0              0
  78  LightSwitch     -1.167         1.307          3.0            0              180            0
  79  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  80  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  81  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  82  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  83  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  84  Window          0.321          1.449          3.088          90             0              0
  85  Toaster         -2.823         0.899          0.246          0              90             0
  86  SinkBasin       -1.344         0.838          -1.25          0              0              0
  87  GarbageCan      -2.757         1.886          1.466          0              0              0
  88  Fridge          -2.855         0.0            0.851          0              0              0
  89  Microwave       0.283          0.900          -1.331         0              0              0
  90  Stool           1.541          0.010          1.328          0              45             0
  91  Stool           0.983          0.010          1.793          0              47.459         0
  92  Faucet          -1.392         1.136          -1.399         0              270            0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Turn around and go left to stand in front of the microwave. | STEP 2: Open the cabinet on the left above the microwave and take out the cup. | STEP 3: Move to the right and face the sink. | STEP 4: Put the cup in the sink and then turn the water on and then off and then pick up the cup. | STEP 5: Turn around and cross to stand in front of the coffee maker. | STEP 6: Put the cup down under the coffee maker on the counter. | END