Task: Gather two black cups from the refrigerator to be placed in a cabinet under 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           1.0            0.900          0.25           0              0              0
   1  CellPhone       -0.320         0.923          0.041          0              0              0              74
   2  DishSponge      -1.639         0.911          -0.864         0              0              0              66
   3  DishSponge      1.713          0.579          0.736          0              0              0              67
   4  ButterKnife     0.107          0.925          0.506          0              0              0              74
   5  ButterKnife     1.764          0.470          -0.088         0              0              0              62
   6  Fork            -0.088         0.760          -1.490         0              90             0              90
   7  Spoon           0.107          0.926          0.273          0              0              0              74
   8  Spoon           0.000          0.926          -0.190         0              0              0              74
   9  Spatula         0.170          0.775          -1.324         0              270            0              90
  10  Cup             -1.648         0.345          0.107          0              90             0              89
  11  Cup             -1.855         1.467          -0.175         0              90             0              89
  12  Plate           -0.844         0.910          -1.318         0              0              0              66
  13  Plate           1.802          0.910          -1.513         0              0              0              66
  14  SoapBottle      2.030          0.915          -1.707         0              0              0              66
  15  Tomato          -1.750         1.524          0.295          0              90             0              89
  16  Tomato          0.107          0.980          0.970          0              0              0              74
  17  Bread           -0.320         1.006          0.738          0              0              0              74
  18  Mug             0.083          0.755          -1.435         0              0              0              90
  19  Apple           -1.721         0.616          0.013          0              90             0              89
  20  Apple           -1.697         1.522          0.107          0              90             0              89
  21  SoapBottle      -1.197         0.117          -1.487         0              0              0              78
  22  Cup             -1.874         0.909          -1.221         0              0              0              66
  23  Pot             -1.256         0.915          -1.513         0              0              0              66
  24  Fork            -1.668         0.912          -1.610         0              0              0              66
  25  Ladle           1.769          0.807          1.147          0              270            0              72
  26  Kettle          1.464          1.680          -1.577         0              0              0              65
  27  Egg             1.924          1.063          -0.756         0              270            0              87
  28  Plate           -1.841         1.660          -0.980         0              90             0              53
  29  Pan             1.975          0.938          0.384          0              180            0              52
  30  Lettuce         -1.803         1.752          -0.175         0              90             0              89
  31  Spatula         0.000          0.940          0.970          0              90             0              74
  32  Apple           -0.320         0.978          0.970          0              0              0              74
  33  Knife           1.932          0.933          -0.053         0              90             0              66
  34  SaltShaker      1.712          0.221          1.022          0              0              0              75
  35  PepperShaker    0.849          1.675          -1.539         0              0              0              65
  36  CellPhone       1.764          0.577          0.531          0              0              0              70
  37  ButterKnife     -0.213         0.925          0.970          0              0              0              74
  38  Bread           -0.106         1.006          0.970          0              0              0              74
  39  Tomato          0.214          0.980          0.273          0              0              0              74
  40  Potato          -1.682         0.863          0.107          0              90             0              89
  41  DishSponge      1.610          0.236          -0.088         0              0              0              49
  42  Spoon           0.000          0.926          0.041          0              0              0              74
  43  Mug             -1.750         0.558          -0.175         0              90             0              89
  44  Bowl            0.107          0.924          0.738          0              0              0              74
  45  Cabinet         -0.495         0.474          -1.149         0              0              0
  46  Window          -0.010         1.582          -1.821         0              0              0
  47  Drawer          0.805          0.475          -1.159         0              0              0
  48  StoveBurner     1.764          0.902          0.601          0              270            0
  49  Drawer          1.5            0.196          -0.019         0              0              0
  50  Drawer          1.5            0.629          -0.018         0              0              0
  51  Drawer          1.5            0.602          -0.019         0              270            0
  52  StoveBurner     1.975          0.902          0.384          0              270            0
  53  Cabinet         -1.703         2.022          -1.453         0              90             0
  54  Cabinet         1.789          2.019          -0.819         0              270            0
  55  Cabinet         0.494          0.474          -1.149         0              0              0
  56  Cabinet         0.409          0.475          0.444          0              0              0
  57  Drawer          -0.696         0.475          -1.159         0              0              0
  58  Drawer          1.5            0.140          0.599          0              270            0
  59  Cabinet         1.389          0.474          -1.149         0              0              0
  60  Drawer          1.5            0.305          0.600          0              0              0
  61  StoveBurner     1.975          0.902          0.601          0              270            0
  62  Drawer          1.5            0.429          -0.019         0              0              0
  63  StoveBurner     1.764          0.902          0.819          0              270            0
  64  Drawer          1.5            0.519          1.220          0              0              0
  65  Cabinet         1.705          2.019          -1.449         0              0              0
  66  CounterTop      0.002          0.947          -1.513         0              0              0
  67  Drawer          1.5            0.629          0.605          0              0              0
  68  Cabinet         -0.627         2.019          -1.449         0              0              0
  69  StoveBurner     1.764          0.902          0.384          0              270            0
  70  Drawer          1.5            0.538          0.600          0              0              0
  71  Sink            0.0            0.893          -1.434         0              0              0
  72  Drawer          1.5            0.782          1.220          0              270            0
  73  Window          2.217          1.565          -0.384         0              0              0
  74  CounterTop      -0.014         0.961          0.505          0              0              0
  75  Drawer          1.5            0.200          1.220          0              0              0
  76  StoveBurner     1.975          0.902          0.819          0              270            0
  77  Window          -3.240         1.616          2.693          0              270            0
  78  Cabinet         -1.389         0.474          -1.149         0              0              0
  79  LightSwitch     -0.153         1.291          3.700          0              180            0
  80  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  81  StoveKnob       1.602          0.917          0.570          0              270            180
  82  StoveKnob       1.602          0.917          0.625          0              270            180
  83  StoveKnob       1.602          0.917          0.739          0              270            180
  84  StoveKnob       1.602          0.917          0.680          0              270            180
  85  StoveKnob       1.602          0.917          0.462          0              270            180
  86  StoveKnob       1.602          0.917          0.517          0              270            180
  87  Microwave       1.932          0.899          -0.766         0              270            0
  88  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  89  Fridge          -1.764         0.0            0.014          0              90             0
  90  SinkBasin       -0.014         0.736          -1.435         0              0              0
  91  Toaster         1.977          0.900          -0.336         0              270            0
  92  Faucet          -0.020         1.137          -1.605         0              270            0
  93  Chair           -9.354         0.000          1.242          0              180            0
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Move across the room to the refrigerator. | STEP 2: Open the door and pick up the black cup that is on the fourth shelf down.  Close the door. | STEP 3: Turn left and move to the sink. | STEP 4: Under the sink there are two cabinet doors.  Open the door on the right, and place the cup on the bottom shelf.  Close the door. | STEP 5: Turn around and move back across the room to the refrigerator.  Open the top freezer door.  | STEP 6: Pick up the black cup that is inside the freezer. Close the door.  | STEP 7: Move back across the room to the sink.  | STEP 8: Under the sink there are two cabinet doors.  Open the door on the right, and place the cup on the bottom shelf by the other cup.  Close the door. | END