Task: Put a clean cup on the counter.

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          1.124          -1.5           0              180            0
   1  Pan             -2.049         1.322          2.069          0              0              0              49
   2  WineBottle      -1.665         0.344          -2.362         0              0              0              45
   3  Fork            -1.401         1.323          1.094          0              0              0              49
   4  Spoon           0.981          0.741          0.983          0              0              0              73
   5  Spoon           0.896          1.324          -2.794         0              0              0              49
   6  Spatula         -1.603         0.437          -1.348         0              90             0              55
   7  Pot             -2.049         1.329          1.094          0              0              0              49
   8  Pot             -0.630         1.331          -3.301         0              180            0              46
   9  Cup             0.492          1.320          -3.011         0              0              0              49
  10  Cup             1.155          1.320          -0.942         0              0              0              49
  11  Plate           -1.749         0.344          0.211          0              0              0              47
  12  Plate           0.976          0.345          -1.957         0              180            0              48
  13  SoapBottle      0.976          0.345          -2.371         0              180            0              48
  14  SoapBottle      1.155          1.323          -2.053         0              0              0              49
  15  PepperShaker    -1.546         0.338          0.613          0              0              0              47
  16  Bread           -1.401         1.397          -1.941         0              0              0              49
  17  Lettuce         -1.790         1.399          0.445          0              90             0              49
  18  Mug             0.976          0.339          -2.164         0              180            0              48
  19  Mug             1.025          1.318          -2.794         0              90             0              49
  20  Apple           -1.657         0.329          2.193          0              270            0              64
  21  Bread           0.766          1.397          -2.053         0              0              0              49
  22  Pot             -0.239         1.331          -3.301         0              180            0              44
  23  Knife           0.636          1.352          -2.424         0              0              0              49
  24  Bowl            0.636          1.321          -1.683         0              0              0              49
  25  Potato          -1.308         1.362          -2.760         0              0              0              49
  26  SoapBottle      -1.818         0.344          1.523          0              0              0              50
  27  Fork            -1.660         1.323          1.094          0              0              0              49
  28  Cup             -1.165         1.320          -3.092         0              0              0              49
  29  Kettle          -1.380         1.324          -2.981         0              0              0              49
  30  Egg             1.056          1.715          1.663          0              270            0              62
  31  Pan             -1.881         0.327          -2.035         0              0              0              45
  32  SaltShaker      -1.886         0.338          1.213          0              0              0              50
  33  WineBottle      -1.363         1.323          -0.332         0              0              0              49
  34  Lettuce         -2.049         1.399          -2.981         0              0              0              49
  35  Spatula         0.492          1.337          -3.232         0              0              0              49
  36  PaperTowelRoll  -1.586         0.384          2.110          0              270            0              64
  37  Tomato          0.920          1.558          1.724          0              270            0              62
  38  Plate           -1.660         1.323          0.770          0              0              0              49
  39  PepperShaker    0.747          0.339          -2.164         0              180            0              48
  40  DishSponge      0.856          0.953          0.711          0              0              0              71
  41  Spoon           -2.049         1.324          -2.721         0              0              0              49
  42  Apple           -1.237         1.371          -3.314         0              0              0              49
  43  Mug             1.181          1.305          0.965          0              270            0              74
  44  StoveBurner     -0.239         1.325          -3.301         0              180            0
  45  Cabinet         -1.461         0.775          -2.002         0              0              0
  46  StoveBurner     -0.630         1.325          -3.301         0              180            0
  47  Cabinet         -1.461         0.775          0.470          0              0              0
  48  Cabinet         0.578          0.776          -2.054         0              0              0
  49  CounterTop      -1.809         1.358          1.182          0              0              0
  50  Cabinet         -1.461         0.775          1.310          0              0              0
  51  Faucet          -2.063         1.362          -0.726         0              39.391         0
  52  StoveBurner     -0.749         1.325          -2.973         0              0              0
  53  Drawer          -1.610         0.681          -0.430         0              0              0
  54  Window          -2.566         1.799          -0.822         270            0              0
  55  Drawer          -1.610         0.681          -1.217         0              0              0
  56  Sink            -1.990         1.143          -0.975         0              0              0
  57  StoveBurner     -0.125         1.325          -2.973         0              0              0
  58  StoveKnob       -0.185         1.338          -2.741         0              270            180
  59  StoveKnob       -0.336         1.338          -2.741         0              270            180
  60  StoveKnob       -0.569         1.338          -2.741         0              270            180
  61  StoveKnob       -0.707         1.338          -2.741         0              270            180
  62  Fridge          1.013          0.227          1.917          0              270            0
  63  Microwave       0.994          1.310          -2.163         0              270            0
  64  GarbageCan      -1.633         0.212          2.192          0              270            0
  65  LightSwitch     1.386          1.565          -0.657         0              270            0
  66  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  67  SinkBasin       -1.835         1.039          -0.542         0              0              0
  68  ButterKnife     0.873          0.468          0.651          0              0              0
  69  Toaster         -1.885         1.310          -2.512         0              90             0
  70  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  71  Drawer          0.647          1.061          0.680          0              270            0
  72  Drawer          0.648          1.061          1.020          0              270            0
  73  Drawer          0.648          0.843          1.020          0              270            0
  74  SideTable       0.975          0.220          0.869          0              270            0
  75  Drawer          0.648          0.602          0.680          0              270            0
  76  Drawer          0.648          0.596          1.020          0              270            0
  77  Drawer          0.648          0.843          0.680          0              270            0
  78  Stool           0.606          0.222          -1.084         1.233          280.489        0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Turn around, go forward, turn right, go forward, then turn right to face the table with the coffee maker. | STEP 2: Pick up the cup from the table, next to the coffee maker. | STEP 3: Turn right, go forward, turn left, go forward, and turn right to approach the sink. | STEP 4: Wash the cup in the sink. | STEP 5: Turn right, go forward, then turn right to approach the counter with the microwave. | STEP 6: Place the cup on the counter with the microwave, on the left front corner. | END