Task: To wash a cup as well as place it back in the 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           -2.0           0.914          3.25           0              0              0
   1  Potato          -1.857         0.821          3.662          0              0              0              76
   2  ButterKnife     -1.787         0.891          0.152          0              90             0              82
   3  ButterKnife     -2.402         0.915          3.890          0              0              0              46
   4  WineBottle      -3.654         0.916          1.524          0              0              0              55
   5  WineBottle      -3.442         1.460          3.224          0              0              0              53
   6  Kettle          -3.143         0.966          1.971          0              0              0              66
   7  Spatula         -3.559         0.930          1.607          0              270            0              55
   8  Spatula         -3.272         0.930          3.336          0              180            0              46
   9  Spoon           -1.391         0.892          0.152          0              270            0              82
  10  Spoon           -1.921         0.790          3.737          0              0              0              76
  11  Pot             -0.323         0.988          3.988          0              90             0              72
  12  Egg             -3.410         1.581          2.068          0              90             0              77
  13  Egg             -1.259         0.926          0.358          0              90             0              82
  14  Cup             -1.787         0.891          0.049          0              90             0              82
  15  Plate           -3.559         0.919          1.189          0              0              0              55
  16  Tomato          -1.161         0.156          3.756          0              270            0              78
  17  Tomato          -1.729         0.858          3.662          0              0              0              76
  18  SoapBottle      -1.565         0.080          3.586          0              0              0              51
  19  Bowl            -0.790         0.985          4.114          0              180            0              72
  20  SaltShaker      -3.185         0.743          3.027          0              0              0              48
  21  PepperShaker    -3.068         0.742          3.296          0              0              0              56
  22  Lettuce         -1.815         1.001          4.146          0              0              0              46
  23  Egg             -3.081         0.950          1.607          0              0              0              55
  24  Knife           -1.711         0.939          3.490          0              180            0              46
  25  Fork            -3.068         0.747          2.806          0              90             0              48
  26  Bread           -1.522         0.963          0.276          0              280.313        0              82
  27  Potato          -3.568         1.578          2.224          0              90             0              77
  28  Plate           -3.176         0.919          1.189          0              0              0              55
  29  Pot             -3.424         0.966          1.971          0              0              0              54
  30  Kettle          -1.259         0.892          0.152          0              90             0              82
  31  WineBottle      -0.994         0.892          0.461          0              90             0              82
  32  Bowl            -1.127         0.890          0.358          0              90             0              82
  33  Tomato          -0.323         0.791          3.869          0              180            0              72
  34  Cup             -0.790         1.541          4.067          0              180            0              72
  35  Spatula         -3.368         0.930          1.273          0              90             0              55
  36  SoapBottle      -2.460         0.080          3.664          0              0              0              57
  37  Lettuce         -1.391         0.977          -0.053         0              90             0              82
  38  Pan             -2.614         0.902          3.620          0              0              0              46
  39  Apple           -0.790         1.333          4.133          0              180            0              72
  40  SaltShaker      -1.127         0.887          0.564          0              90             0              82
  41  PepperShaker    -3.458         1.990          1.835          0              0              0              60
  42  ButterKnife     -1.711         0.915          4.104          0              180            0              46
  43  DishSponge      -3.113         0.083          1.513          0              0              0              65
  44  Spoon           -0.994         0.892          0.152          0              90             0              82
  45  Mug             -3.424         0.945          3.275          0              90             0              46
  46  CounterTop      -3.381         0.950          3.335          0              0              0
  47  Drawer          -3.121         0.775          1.357          0              0              0
  48  Drawer          -3.121         0.777          2.916          0              0              0
  49  StoveBurner     -3.148         0.958          2.374          0              0              0
  50  Sink            -1.797         0.917          3.660          0              0              0
  51  Cabinet         -1.421         0.388          3.459          0              0              0
  52  StoveBurner     -3.424         0.958          2.374          0              0              0
  53  Cabinet         -3.365         1.931          2.676          0              0              0
  54  StoveBurner     -3.424         0.958          1.971          0              0              0
  55  CounterTop      -3.381         0.951          1.356          0              0              0
  56  Drawer          -3.121         0.781          3.295          0              0              0
  57  Cabinet         -2.205         0.388          3.459          0              0              0
  58  Cabinet         -2.963         0.388          3.459          0              0              0
  59  Cabinet         -2.992         0.388          2.683          0              0              0
  60  Cabinet         -3.352         2.205          1.715          0              0              0
  61  Cabinet         -3.352         2.205          2.653          0              0              0
  62  Cabinet         -2.189         0.388          3.466          0              0              0
  63  Cabinet         -3.365         1.931          3.963          0              0              0
  64  Cabinet         -3.365         1.931          1.056          0              0              0
  65  Cabinet         -2.992         0.388          1.037          0              0              0
  66  StoveBurner     -3.143         0.958          1.971          0              0              0
  67  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  68  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  69  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  70  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  71  Toaster         -2.654         0.902          4.064          0              180            0
  72  Fridge          -0.439         0.014          3.996          0              0              0
  73  LightSwitch     0.25           1.383          2.085          0              270            0
  74  Window          -1.430         1.338          -0.347         90             0              0
  75  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  76  SinkBasin       -1.802         0.778          3.700          0              0              0
  77  Microwave       -3.484         1.430          2.182          0              90             0
  78  GarbageCan      -1.184         -0.020         3.794          0              270            0
  79  Blinds          -1.404         2.092          -0.296         0              0              0
  80  Stool           -1.373         0.014          1.048          1.214          20.754         0
  81  Faucet          -1.788         0.903          3.931          270            90             0
  82  DiningTable     -1.399         0.010          0.238          0              0              0
  83  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: Turn left and step forward to face the counter. | STEP 2: Pick up the cup on the coffee maker. | STEP 3: Turn right to face the sink. | STEP 4: Wash the cup in the sink and remove it. | STEP 5: Turn left and step forward to face the coffee maker. | STEP 6: Place the cup in the coffee maker. | END