Task: Put a chilled wooden 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           -0.25          0.930          1.0            0              0              0
   1  Potato          3.152          0.785          0.098          0              90             0              108
   2  Potato          1.008          0.924          -1.475         0              0              0              109
   3  DishSponge      2.987          0.746          0.231          0              90             0              108
   4  ButterKnife     -1.080         0.900          0.176          0              0              0              63
   5  Glassbottle     3.084          0.176          -0.744         0              0              0              75
   6  Kettle          -0.600         0.902          -1.090         0              135            0              52
   7  Spatula         3.070          0.762          0.098          0              90             0              108
   8  Spatula         2.906          0.727          -0.314         0              270            0              59
   9  Fork            2.988          0.713          -0.823         0              90             0              50
  10  CellPhone       -1.153         0.897          -0.047         0              0              0              63
  11  CellPhone       0.836          0.908          0.410          0              36.810         0              94
  12  Apple           0.179          0.974          -1.373         0              0              0              84
  13  Apple           0.415          0.974          -1.373         0              0              0              84
  14  Lettuce         0.719          0.976          0.254          0              36.810         0              94
  15  PepperShaker    -0.745         0.514          0.751          0              0              0              60
  16  SoapBottle      3.289          0.110          1.599          0              225            0              104
  17  SoapBottle      2.971          0.184          -0.307         0              0              0              74
  18  Tomato          0.553          0.947          0.379          0              36.810         0              94
  19  Tomato          1.164          0.748          -1.381         0              0              0              109
  20  Egg             2.888          0.953          0.485          0              0              0              62
  21  Cup             0.887          0.905          0.527          0              0              0              94
  22  Cup             0.454          1.257          -1.776         0              0              0              79
  23  Knife           -0.987         0.925          -0.746         0              135            0              63
  24  Plate           3.140          0.190          0.700          0              0              0              72
  25  Glassbottle     1.098          0.911          0.322          0              0              0              94
  26  SoapBottle      0.836          0.917          0.747          0              0              0              94
  27  Potato          -1.052         1.036          1.258          0              0              0              111
  28  Fork            -0.991         0.326          -0.011         0              90             0              68
  29  Ladle           0.967          0.947          0.747          0              0              0              94
  30  Pot             0.423          0.900          0.869          0              0              0              94
  31  Kettle          1.491          0.909          0.747          0              0              0              94
  32  Spatula         3.152          0.762          0.032          0              0              0              108
  33  Knife           0.547          0.936          0.140          0              36.810         0              94
  34  Lettuce         0.007          0.965          -1.435         0              45             0              84
  35  Cup             -1.052         0.995          1.364          0              90             0              111
  36  SaltShaker      -0.827         0.127          -0.098         0              0              0              83
  37  Egg             1.008          1.300          -1.503         0              0              0              109
  38  PepperShaker    -0.991         0.702          -0.011         0              0              0              70
  39  ButterKnife     0.101          0.900          -1.660         0              0              0              84
  40  Apple           -0.703         0.974          -0.517         0              45             0              63
  41  Pan             -0.419         0.902          -1.269         0              315            0              65
  42  Bread           1.534          0.972          0.486          0              289.287        0              94
  43  CellPhone       0.445          0.908          0.426          0              0              0              94
  44  DishSponge      -0.827         0.130          0.076          0              0              0              83
  45  Tomato          1.008          0.748          -1.433         0              0              0              109
  46  Spoon           -0.868         0.519          -0.186         0              0              0              90
  47  Bowl            -0.862         0.897          0.846          0              0              0              63
  48  Mug             1.086          1.068          -1.531         0              90             0              109
  49  Drawer          0.376          0.572          -1.509         0              0              0
  50  Drawer          3.020          0.769          -0.783         0              180            0
  51  Drawer          -0.860         0.577          1.429          0              0              0
  52  StoveBurner     -0.600         0.897          -1.090         0              135            0
  53  Drawer          0.376          0.191          -1.509         0              0              0
  54  Cabinet         1.402          1.874          -1.259         0              0              0
  55  Cabinet         -0.202         1.963          -1.328         0              0              0
  56  Drawer          -0.860         0.765          1.429          0              0              0
  57  Drawer          -0.677         0.765          -0.700         0              0              0
  58  StoveBurner     -0.420         0.897          -0.920         0              135            0
  59  Drawer          3.020          0.769          -0.407         0              180            0
  60  Drawer          -0.860         0.577          0.663          0              0              0
  61  Cabinet         2.819          1.768          -1.850         0              0              0
  62  CounterTop      3.111          0.936          0.019          0              0              0
  63  CounterTop      -1.007         0.935          -0.039         0              0              0
  64  Drawer          -0.860         0.385          0.663          0              0              0
  65  StoveBurner     -0.419         0.897          -1.269         0              315            0
  66  Drawer          -0.047         0.573          -1.324         0              0              0
  67  Drawer          -0.860         0.765          0.663          0              0              0
  68  Drawer          -0.860         0.385          -0.100         0              0              0
  69  Drawer          0.376          0.380          -1.509         0              0              0
  70  Drawer          -0.860         0.765          -0.100         0              0              0
  71  Drawer          0.376          0.765          -1.509         0              0              0
  72  Cabinet         2.849          0.419          0.409          0              0              0
  73  Drawer          -0.047         0.765          -1.324         0              0              0
  74  Cabinet         2.849          0.419          -0.610         0              0              0
  75  Cabinet         2.849          0.419          -0.959         0              0              0
  76  Cabinet         3.069          1.666          -0.709         0              0              0
  77  Cabinet         2.819          1.768          -1.047         0              0              0
  78  Cabinet         0.620          1.874          -1.259         0              0              0
  79  Cabinet         0.140          1.666          -1.559         0              0              0
  80  Cabinet         -0.189         1.666          -1.340         0              0              0
  81  Cabinet         -0.709         1.963          -0.819         0              0              0
  82  Cabinet         -0.920         1.665          -0.620         0              0              0
  83  Drawer          -0.860         0.190          -0.100         0              0              0
  84  CounterTop      0.133          0.935          -1.457         0              0              0
  85  Drawer          3.020          0.769          0.695          0              180            0
  86  Drawer          -0.677         0.577          -0.700         0              0              0
  87  Drawer          -0.860         0.190          1.429          0              0              0
  88  Drawer          -0.047         0.192          -1.324         0              0              0
  89  Drawer          -0.677         0.193          -0.700         0              0              0
  90  Drawer          -0.860         0.577          -0.100         0              0              0
  91  Sink            3.078          0.887          0.086          0              0              0
  92  StoveBurner     -0.239         0.897          -1.089         0              315            0
  93  Drawer          -0.860         0.190          0.663          0              0              0
  94  CounterTop      1.210          0.937          0.463          0              0              0
  95  Drawer          -0.047         0.381          -1.324         0              0              0
  96  Drawer          -0.677         0.387          -0.700         0              0              0
  97  Mirror          -1.295         1.630          0.045          0              0              0
  98  Drawer          -0.860         0.385          1.429          0              0              0
  99  HousePlant      3.196          0.891          -0.368         0              0              0
 100  StoveKnob       -0.090         0.790          -1.009         270            45             0
 101  StoveKnob       -0.280         0.790          -0.819         270            45             0
 102  StoveKnob       -0.180         0.790          -0.920         270            45             0
 103  StoveKnob       -0.370         0.790          -0.720         270            45             0
 104  GarbageCan      3.137          0.025          1.545          0              225            0
 105  Window          3.703          1.675          0.046          90             90             0
 106  CoffeeMachine   3.214          0.890          0.697          0              270            0
 107  LightSwitch     2.592          1.309          -1.880         0              0              0
 108  SinkBasin       3.069          0.736          0.108          0              90             0
 109  Fridge          1.008          0.029          -1.467         0              0              0
 110  Toaster         -1.035         0.873          -0.396         0              90             0
 111  Microwave       -1.034         0.874          1.428          0              90             0
 112  Faucet          3.305          0.886          0.094          270            180            0
 113  NorthWall
 114  EastWall
 115  SouthWall
 116  WestWall

Plan:
STEP 1: Turn right and walk up to the island, then turn right and walk around the island to the counter to the right of the fridge and look up at the upper cabinets. | STEP 2: Open the left upper cabinet door and take the wooden cup out of the cabinet, then close the door. | STEP 3: Turn around and walk forward, then turn right and walk over to the fridge. | STEP 4: Open the fridge and put the cup inside, then close the door, after a couple seconds open the fridge back up and remove the wooden cup then close the door. | STEP 5: Turn left and walk towards the counter, then turn left and walk towards the wall, after that turn right and walk up to the sink. | STEP 6: Put the chilled wooden cup in the sink basin. | END