Task: Robot is cleaning up cups around the kitchen and putting them away.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          2.5            0              0              0
   1  Potato          1.988          1.030          -0.599         0              270            0              93
   2  Potato          -1.818         0.065          1.371          0              270            0              86
   3  Kettle          1.975          0.938          0.384          0              180            0              58
   4  Kettle          0.321          0.926          0.041          0              0              0              80
   5  DishSponge      -0.320         0.925          -0.190         0              0              0              80
   6  ButterKnife     -1.639         0.911          -1.113         0              0              0              72
   7  Fork            1.769          0.584          0.052          0              270            0              57
   8  Fork            0.214          0.926          -0.190         0              0              0              80
   9  Spoon           0.083          0.761          -1.380         0              0              0              96
  10  Spoon           0.661          0.912          -1.513         0              180            0              72
  11  Spatula         -0.638         0.926          -1.221         0              0              0              72
  12  Cup             0.321          0.923          -0.190         0              0              0              80
  13  Plate           -1.841         1.660          -1.282         0              90             0              59
  14  Plate           -0.175         0.759          -1.435         0              0              0              96
  15  SoapBottle      1.986          0.915          1.107          0              0              0              72
  16  Tomato          -0.844         0.966          -1.513         0              0              0              72
  17  Bowl            0.170          0.759          -1.490         0              0              0              96
  18  Bowl            -1.645         1.467          0.013          0              90             0              95
  19  PepperShaker    -0.213         0.921          0.273          0              0              0              80
  20  PepperShaker    0.214          0.921          0.506          0              0              0              80
  21  Bread           -0.106         1.006          1.202          0              0              0              80
  22  Bread           -1.050         0.992          -1.610         0              0              0              72
  23  Lettuce         0.000          1.002          0.273          0              0              0              80
  24  Lettuce         0.214          1.002          0.273          0              0              0              80
  25  Mug             -1.750         0.558          0.107          0              90             0              95
  26  Mug             1.355          0.955          -1.362         0              0              0              94
  27  SoapBottle      0.250          0.116          -1.282         0              0              0              61
  28  Cup             -1.803         1.467          -0.269         0              90             0              95
  29  Pot             1.975          0.938          0.819          0              180            0              82
  30  Fork            0.000          0.926          0.970          0              90             0              80
  31  Ladle           2.030          0.955          -1.610         0              0              0              72
  32  Kettle          1.156          0.110          -1.479         0              0              0              65
  33  Egg             -1.664         0.404          -0.175         0              90             0              95
  34  Plate           -1.151         0.112          -1.423         0              0              0              84
  35  Pan             1.802          0.911          -1.610         0              180            0              72
  36  Lettuce         -0.213         1.002          0.041          0              0              0              80
  37  Spatula         -0.002         0.775          -1.546         0              90             0              96
  38  Apple           -1.855         1.730          0.201          0              90             0              95
  39  Knife           1.658          0.604          0.198          0              180            0              57
  40  SaltShaker      1.273          0.105          -1.289         0              0              0              65
  41  PepperShaker    -1.551         0.907          -1.063         0              0              0              72
  42  CellPhone       1.802          0.909          -1.318         0              0              0              72
  43  ButterKnife     1.714          0.121          0.599          0              270            0              64
  44  Bread           -0.213         1.006          0.738          0              0              0              80
  45  Tomato          -1.803         1.524          0.295          0              90             0              95
  46  Potato          0.000          0.949          0.041          0              0              0              80
  47  DishSponge      0.138          0.112          -1.534         0              0              0              61
  48  Spoon           1.812          0.462          1.284          0              0              0              70
  49  Mug             1.924          1.001          -0.704         0              270            0              93
  50  Bowl            0.000          0.924          0.738          0              0              0              80
  51  Cabinet         -0.495         0.474          -1.149         0              0              0
  52  Window          -0.010         1.582          -1.821         0              0              0
  53  Drawer          0.805          0.475          -1.159         0              0              0
  54  StoveBurner     1.764          0.902          0.601          0              270            0
  55  Drawer          1.5            0.196          -0.019         0              0              0
  56  Drawer          1.5            0.629          -0.018         0              0              0
  57  Drawer          1.5            0.602          -0.019         0              270            0
  58  StoveBurner     1.975          0.902          0.384          0              270            0
  59  Cabinet         -1.703         2.022          -1.453         0              90             0
  60  Cabinet         1.789          2.019          -0.819         0              270            0
  61  Cabinet         0.494          0.474          -1.149         0              0              0
  62  Cabinet         0.409          0.475          0.444          0              0              0
  63  Drawer          -0.696         0.475          -1.159         0              0              0
  64  Drawer          1.5            0.140          0.599          0              270            0
  65  Cabinet         1.389          0.474          -1.149         0              0              0
  66  Drawer          1.5            0.305          0.600          0              0              0
  67  StoveBurner     1.975          0.902          0.601          0              270            0
  68  Drawer          1.5            0.429          -0.019         0              0              0
  69  StoveBurner     1.764          0.902          0.819          0              270            0
  70  Drawer          1.5            0.519          1.220          0              0              0
  71  Cabinet         1.705          2.019          -1.449         0              0              0
  72  CounterTop      0.002          0.947          -1.513         0              0              0
  73  Drawer          1.5            0.629          0.605          0              0              0
  74  Cabinet         -0.627         2.019          -1.449         0              0              0
  75  StoveBurner     1.764          0.902          0.384          0              270            0
  76  Drawer          1.5            0.538          0.600          0              0              0
  77  Sink            0.0            0.893          -1.434         0              0              0
  78  Drawer          1.5            0.782          1.220          0              270            0
  79  Window          2.217          1.565          -0.384         0              0              0
  80  CounterTop      -0.014         0.961          0.505          0              0              0
  81  Drawer          1.5            0.200          1.220          0              0              0
  82  StoveBurner     1.975          0.902          0.819          0              270            0
  83  Window          -3.240         1.616          2.693          0              270            0
  84  Cabinet         -1.389         0.474          -1.149         0              0              0
  85  LightSwitch     -0.153         1.291          3.700          0              180            0
  86  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  87  StoveKnob       1.602          0.917          0.570          0              270            180
  88  StoveKnob       1.602          0.917          0.625          0              270            180
  89  StoveKnob       1.602          0.917          0.739          0              270            180
  90  StoveKnob       1.602          0.917          0.680          0              270            180
  91  StoveKnob       1.602          0.917          0.462          0              270            180
  92  StoveKnob       1.602          0.917          0.517          0              270            180
  93  Microwave       1.932          0.899          -0.766         0              270            0
  94  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  95  Fridge          -1.764         0.0            0.014          0              90             0
  96  SinkBasin       -0.014         0.736          -1.435         0              0              0
  97  Toaster         1.977          0.900          -0.336         0              270            0
  98  Faucet          -0.020         1.137          -1.605         0              270            0
  99  Chair           -9.354         0.000          1.242          0              180            0
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Turns right walks towards counter turns right and faces counter top | STEP 2: picks up cup with fork in it | STEP 3: Turns left turns right walks towards end of counters turns right then turns around  | STEP 4: open cabinet door and puts cup and fork into cabinet | STEP 5: turns right and looks up to face the upper cabinet | STEP 6: opens up cabinet door and gets the cup out of cabinet | STEP 7: turns around and then turns right | STEP 8: opens up cabinet door and places cup next to other cup | END