Task: Put an orange cup in the sink.

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          -0.5           0              270            0
   1  Potato          -0.598         0.933          -1.119         0              47.530         0              76
   2  CreditCard      -0.153         1.108          1.707          0              315            0              69
   3  DishSponge      -0.049         1.662          -1.435         0              0              0              64
   4  DishSponge      0.254          0.747          -1.052         0              0              0              77
   5  ButterKnife     0.997          0.911          -1.032         0              0              0              76
   6  ButterKnife     -2.026         0.746          -0.966         0              0              0              71
   7  Kettle          -1.048         1.663          -1.397         0              0              0              65
   8  Pot             -2.622         0.928          -0.396         0              0              0              70
   9  Fork            0.842          0.911          -1.115         0              0              0              76
  10  Cup             -2.853         0.909          0.021          0              0              0              68
  11  Plate           -1.494         1.664          -1.360         0              0              0              50
  12  Egg             -2.619         0.854          0.690          0              90             0              88
  13  Egg             -2.619         0.854          0.932          0              90             0              88
  14  SoapBottle      -2.936         0.912          -0.147         0              0              0              68
  15  SoapBottle      0.625          1.112          1.556          0              315            0              69
  16  Tomato          -2.800         0.869          1.013          0              90             0              88
  17  Tomato          -0.133         0.960          -1.365         0              0              0              76
  18  Lettuce         -2.740         1.752          0.771          0              90             0              88
  19  SaltShaker      -2.521         0.907          -0.062         0              0              0              68
  20  SaltShaker      0.644          1.108          1.229          0              315            0              69
  21  Mug             -2.438         0.906          -0.147         0              0              0              68
  22  Mug             -2.860         1.468          0.609          0              90             0              88
  23  Apple           -2.740         0.430          0.690          0              90             0              88
  24  Apple           -0.556         0.963          -1.449         0              0              0              76
  25  Pan             -2.59          0.9            -1.147         0              0              0              76
  26  Apple           -2.521         0.963          0.359          0              0              0              68
  27  Fork            -1.987         0.747          -1.094         0              90             0              71
  28  Kettle          -1.505         0.850          -1.194         0              0              0              86
  29  CreditCard      0.013          1.108          1.706          0              315            0              69
  30  Bread           -2.740         1.528          0.932          0              90             0              88
  31  Plate           -1.627         0.119          -1.031         0              0              0              53
  32  SoapBottle      0.608          0.118          -1.128         0              0              0              56
  33  Spatula         -2.552         0.922          0.010          0              0              0              68
  34  Lettuce         -2.860         0.899          0.690          0              90             0              88
  35  SaltShaker      0.413          1.108          0.998          0              315            0              69
  36  Tomato          -2.920         0.427          1.013          0              90             0              88
  37  PepperShaker    -2.830         0.9            -0.112         0              0              0              68
  38  ButterKnife     -1.332         0.849          -1.194         0              0              0              86
  39  Pot             0.586          1.112          0.825          0              315            0              69
  40  DishSponge      0.298          1.111          1.575          0              315            0              69
  41  Egg             -1.246         0.886          -1.25          0              0              0              86
  42  Spoon           -0.157         0.9            -1.015         0              0              0              76
  43  Knife           0.060          1.106          1.587          270            209.997        0              69
  44  Cup             -2.619         1.671          1.094          0              90             0              88
  45  Mug             -2.736         1.790          -0.803         0              90             0              47
  46  Bowl            -2.046         0.9            -1.163         0              0              0              76
  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: Move forward to the toaster on the counter. | STEP 2: Pick up the orange cup on the counter.  | STEP 3: Turn around and bring the cup to the sink on the right.  | STEP 4: Put the cup in the sink. | END