Task: put a cooled cup underneath the kitchen 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          2.75           0              270            0
   1  Potato          -3.291         0.953          2.378          0              90             0              74
   2  Ladle           -2.514         1.164          0.473          0              0              0              67
   3  DishSponge      -2.514         1.124          0.095          0              0              0              67
   4  DishSponge      -1.274         0.049          0.608          0              0              0              61
   5  ButterKnife     -0.715         1.124          0.296          0              0              0              69
   6  Fork            -1.465         0.932          0.359          0              0              0              79
   7  Fork            -1.465         0.932          0.567          0              0              0              79
   8  Spoon           -2.497         0.488          0.545          0              90             0              70
   9  Spoon           -1.568         1.154          0.121          0              0              0              54
  10  Spatula         -1.199         0.946          0.498          0              0              0              79
  11  Cup             -1.483         0.047          0.551          0              0              0              72
  12  Cup             -1.376         0.929          0.221          0              0              0              79
  13  Cup             -0.715         1.122          0.115          0              0              0              69
  14  Plate           -3.506         1.285          3.132          0              90             0              74
  15  Knife           -0.662         1.080          2.817          0              0              0              57
  16  Knife           -0.538         1.079          2.593          0              0              0              57
  17  SoapBottle      -2.089         0.487          0.545          0              0              0              58
  18  SoapBottle      -0.908         1.048          1.920          0              0              0              57
  19  Tomato          -0.662         1.088          3.266          0              0              0              57
  20  SaltShaker      -2.184         0.484          0.613          0              0              0              58
  21  SaltShaker      -0.538         1.044          3.266          0              0              0              57
  22  PepperShaker    -1.483         0.045          0.665          0              0              0              72
  23  PepperShaker    -3.887         1.121          0.662          0              0              0              64
  24  Lettuce         -0.785         1.124          3.042          0              0              0              57
  25  Lettuce         -0.908         1.124          3.266          0              0              0              57
  26  Mug             -3.639         1.281          2.778          0              90             0              74
  27  Mug             -0.292         1.043          2.144          0              0              0              57
  28  Apple           -3.440         1.629          2.920          0              90             0              74
  29  Apple           -1.199         0.998          0.221          0              0              0              79
  30  Fork            -2.042         0.096          0.579          0              0              0              59
  31  SoapBottle      -1.663         1.154          0.095          0              0              0              54
  32  Pot             -3.000         1.133          0.227          0              270            0              71
  33  Ladle           -1.922         1.139          0.377          350.995        45             351.750        67
  34  Potato          -0.715         1.155          0.206          0              0              0              69
  35  Plate           -0.785         1.046          2.369          0              0              0              57
  36  Bread           -0.538         1.134          1.920          0              0              0              57
  37  Lettuce         -3.506         1.637          3.132          0              90             0              74
  38  Spatula         -2.388         1.139          0.662          0              0              0              67
  39  Pan             -3.475         1.133          0.48           0              90             0              55
  40  Egg             -3.798         0.142          2.038          0              0              0              78
  41  Cup             -0.309         1.210          0.377          0              0              0              80
  42  SaltShaker      -0.785         1.043          3.266          0              0              0              57
  43  Knife           -0.785         1.080          2.144          0              0              0              57
  44  Bowl            -0.908         1.045          2.593          0              0              0              57
  45  PepperShaker    -2.592         0.091          0.545          0              0              0              60
  46  ButterKnife     -2.262         1.124          0.662          0              0              0              67
  47  Apple           -3.639         0.979          3.061          0              90             0              74
  48  Tomato          -3.696         0.153          2.038          0              0              0              78
  49  DishSponge      -0.883         1.124          0.478          0              0              0              69
  50  Spoon           -0.771         1.126          0.569          0              0              0              69
  51  Mug             -3.373         0.906          2.920          0              180            0              74
  52  StoveKnob       -3.322         1.053          0.709          45             0              0
  53  StoveBurner     -3.474         1.097          0.227          0              180            0
  54  Sink            -1.394         0.982          0.439          0              0              0
  55  StoveBurner     -3.474         1.097          0.479          0              180            0
  56  StoveKnob       -3.164         1.053          0.709          45             0              0
  57  DiningTable     -0.620         0.017          2.486          0              0              0
  58  Drawer          -2.043         0.608          0.594          0              0              0
  59  Drawer          -2.043         0.216          0.594          0              0              0
  60  Drawer          -2.498         0.216          0.594          0              0              0
  61  Cabinet         -1.001         0.393          0.734          0              0              0
  62  StoveBurner     -3.000         1.097          0.480          0              0              0
  63  StoveKnob       -3.492         1.053          0.709          45             0              0
  64  CounterTop      -3.856         1.160          0.379          0              0              0
  65  Drawer          -2.043         0.937          0.599          0              0              0
  66  Drawer          -2.509         0.937          0.599          0              0              0
  67  CounterTop      -2.280         1.160          0.379          0              0              0
  68  StoveKnob       -2.985         1.053          0.709          45             0              0
  69  CounterTop      -0.514         1.160          0.492          0              0              0
  70  Drawer          -2.498         0.608          0.594          0              0              0
  71  StoveBurner     -3.000         1.097          0.227          0              0              0
  72  Cabinet         -1.733         0.393          0.734          0              0              0
  73  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  74  Fridge          -3.519         0.0            2.717          0              90             0
  75  Window          -1.394         1.924          0.014          90             0              0
  76  Window          -3.266         1.924          0.014          90             0              0
  77  Toaster         -0.225         1.038          2.865          0              270            0
  78  GarbageCan      -3.696         0.002          2.008          0              0              0
  79  SinkBasin       -1.389         0.921          0.428          0              0              0
  80  Microwave       -0.366         1.113          0.430          0              0              0
  81  HousePlant      -2.155         1.101          0.169          0              332.897        0
  82  LightSwitch     -2.584         1.299          3.5            0              180            0
  83  Faucet          -1.393         1.373          0.168          0              270            0
  84  NorthWall
  85  SouthWall
  86  SouthWall

Plan:
STEP 1: walk over to the kitchen sink  | STEP 2: grab a clear cup out of the kitchen sink | STEP 3: walk on over to the fridge | STEP 4: place the cup inside the fridge, let it cool and then take it out again | STEP 5: bring the cup over to the kitchen sink again | STEP 6: place the cup in the cabinet below the kitchen sink on the right | END