Task: pick up a glass from the sink put in fridge and take it back out and put it back 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           -2.5           0.900          2.0            0              0              0
   1  Pan             -0.556         0.909          -1.365         0              90             0              70
   2  DishSponge      0.509          1.111          0.748          0              315            0              63
   3  DishSponge      0.836          1.111          0.729          0              315            0              63
   4  ButterKnife     0.253          1.111          1.768          0              315            0              63
   5  Fork            -1.073         0.852          -1.194         0              90             0              80
   6  Fork            -1.332         0.850          -1.194         0              90             0              80
   7  Spatula         -1.591         0.864          -1.139         0              270            0              80
   8  Egg             -1.246         0.884          -1.360         0              0              0              80
   9  Knife           -2.542         0.769          -0.027         0              90             0              68
  10  SoapBottle      0.809          1.663          -1.360         0              0              0              48
  11  SoapBottle      -2.540         0.912          -0.948         0              0              0              70
  12  Tomato          -2.920         1.722          0.771          0              90             0              82
  13  PepperShaker    -2.521         0.907          -0.062         0              0              0              62
  14  SaltShaker      0.262          1.108          1.910          0              315            0              63
  15  SaltShaker      1.074          0.907          -1.365         0              0              0              70
  16  Mug             1.029          1.145          0.209          0              228.424        0              73
  17  Mug             -2.800         0.814          1.013          0              0              0              82
  18  Pan             -2.59          0.9            -1.147         0              0              0              70
  19  Apple           0.284          1.154          1.580          0              0              0              63
  20  Fork            -0.070         1.112          1.488          0              315            0              63
  21  Kettle          -2.620         0.922          -0.724         0              0              0              61
  22  CreditCard      0.997          0.9            -0.982         0              334.941        0              70
  23  Bread           -2.800         1.528          0.690          0              90             0              82
  24  Plate           -1.458         0.843          -1.235         0              0              0              80
  25  SoapBottle      -2.687         0.912          -0.147         0              0              0              62
  26  Spatula         -2.438         0.926          0.190          0              270            0              62
  27  Lettuce         -2.660         0.874          0.983          31.046         0              0              82
  28  SaltShaker      -2.811         1.661          -1.059         0              0              0              54
  29  Tomato          0.765          0.960          -1.449         0              0              0              70
  30  PepperShaker    -1.709         1.658          -1.322         0              0              0              44
  31  ButterKnife     0.644          1.111          1.229          0              315            0              63
  32  Pot             -2.622         0.928          -0.396         0              0              0              64
  33  Potato          -0.598         0.933          -1.119         0              47.530         0              70
  34  DishSponge      -1.173         0.116          -1.105         0              0              0              43
  35  Egg             -2.815         0.072          1.396          0              0              0              81
  36  Spoon           -0.157         0.9            -1.015         0              0              0              70
  37  Knife           -2.604         0.934          0.275          0              180            0              62
  38  Cup             -1.119         0.841          -1.241         0              0              0              80
  39  Mug             -2.740         0.373          0.690          0              90             0              82
  40  Bowl            -2.046         0.9            -1.163         0              0              0              70
  41  Cabinet         -2.647         2.075          -0.875         0              0              0
  42  Cabinet         -2.647         2.075          -0.234         0              0              0
  43  Cabinet         -0.824         0.469          -0.907         0              0              0
  44  Cabinet         -1.764         2.009          -1.197         0              0              0
  45  Cabinet         -1.834         2.009          -1.197         0              0              0
  46  Cabinet         -1.850         0.389          -0.897         0              0              0
  47  Cabinet         -1.801         0.469          -0.907         0              0              0
  48  Cabinet         1.115          2.009          -1.197         0              0              0
  49  Cabinet         0.235          2.009          -1.197         0              0              0
  50  Cabinet         1.125          0.470          -0.897         0              0              0
  51  Cabinet         -2.387         0.389          0.375          0              0              0
  52  Cabinet         0.484          0.389          -0.897         0              0              0
  53  Cabinet         -2.625         2.009          -1.197         0              0              0
  54  Cabinet         -2.647         2.009          -0.945         0              0              0
  55  Cabinet         -2.647         2.200          1.664          0              0              0
  56  Cabinet         -2.647         2.009          0.364          0              0              0
  57  Cabinet         0.164          2.009          -1.197         0              0              0
  58  Cabinet         -0.765         2.009          -1.197         0              0              0
  59  Cabinet         -0.834         2.009          -1.197         0              0              0
  60  Cabinet         -2.647         2.200          0.434          0              0              0
  61  StoveBurner     -2.622         0.886          -0.711         0              0              0
  62  CounterTop      -2.699         0.946          0.106          0              0              0
  63  CounterTop      0.908          1.147          0.788          0              315            0
  64  StoveBurner     -2.622         0.886          -0.396         0              0              0
  65  Drawer          -2.026         0.779          -1.082         0              0              0
  66  Sink            -1.328         0.916          -1.225         0              0              0
  67  StoveBurner     -2.822         0.886          -0.711         0              0              0
  68  Drawer          -2.572         0.779          0.099          0              0              0
  69  StoveBurner     -2.822         0.886          -0.396         0              0              0
  70  CounterTop      0.071          0.946          -1.199         0              0              0
  71  Drawer          0.254          0.779          -1.082         0              0              0
  72  LightSwitch     -1.167         1.307          3.0            0              180            0
  73  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  74  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  75  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  76  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  77  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  78  Window          0.321          1.449          3.088          90             0              0
  79  Toaster         -2.823         0.899          0.246          0              90             0
  80  SinkBasin       -1.344         0.838          -1.25          0              0              0
  81  GarbageCan      -2.757         1.886          1.466          0              0              0
  82  Fridge          -2.855         0.0            0.851          0              0              0
  83  Microwave       0.283          0.900          -1.331         0              0              0
  84  Stool           1.541          0.010          1.328          0              45             0
  85  Stool           0.983          0.010          1.793          0              47.459         0
  86  Faucet          -1.392         1.136          -1.399         0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: look down and then turn right towards the counter and then turn right again and walk toward the sink  | STEP 2: pick up the glass out of the sink  | STEP 3: turn right with the glass in hand  walk towards the door  then turn left and walk towards the fridge  | STEP 4: open the fridge place the glass inside and close the fridge open the fridge and take the glass back out  | STEP 5: close the fridge and turn left then turn right  | STEP 6: walk back to the sink place cup in the sink  | END