Task: Chill a cup and place it 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           2.25           0.930          -0.25          0              0              0
   1  ButterKnife     1.491          0.908          0.180          0              0              0              89
   2  ButterKnife     0.547          0.911          0.140          0              36.810         0              89
   3  Glassbottle     3.198          0.176          -0.501         0              0              0              69
   4  Kettle          3.044          1.465          -1.599         0              0              0              56
   5  Kettle          3.197          0.178          0.559          0              0              0              67
   6  CellPhone       -0.950         0.704          0.076          0              0              0              65
   7  Mug             -0.755         0.895          -0.568         0              135            0              58
   8  Mug             -0.857         0.895          -0.773         0              45             0              58
   9  Bread           3.277          0.979          -0.698         0              0              0              57
  10  Bowl            2.971          0.174          0.700          0              0              0              67
  11  SoapBottle      3.146          1.273          -0.854         0              0              0              71
  12  Tomato          -0.187         0.937          -1.445         0              45             0              79
  13  Tomato          0.100          0.937          -1.528         0              45             0              79
  14  Egg             -0.080         0.952          -1.244         0              45             0              79
  15  Cup             3.355          0.898          -0.499         0              0              0              57
  16  Cup             -0.985         0.995          1.311          0              90             0              106
  17  Cup             1.303          1.672          -1.341         0              0              0              49
  18  Knife           0.967          0.933          0.747          0              0              0              89
  19  Plate           3.031          1.477          -1.235         0              0              0              72
  20  Glassbottle     0.533          0.908          0.627          0              0              0              89
  21  SoapBottle      3.315          1.473          -1.137         0              0              0              72
  22  Potato          -1.153         0.938          0.846          0              0              0              58
  23  Fork            -0.868         0.518          1.343          0              0              0              46
  24  Ladle           0.533          0.947          0.426          0              0              0              89
  25  Pot             0.423          0.900          0.869          0              0              0              89
  26  Kettle          -1.080         0.901          0.399          0              0              0              58
  27  Spatula         -0.991         0.145          1.168          0              90             0              82
  28  Knife           0.049          0.925          -1.579         0              45             0              79
  29  Lettuce         0.840          0.765          -1.422         27.470         0              0              104
  30  Cup             0.179          0.898          -1.445         0              0              0              79
  31  SaltShaker      0.468          0.127          -1.556         0              0              0              48
  32  Egg             0.059          0.952          -1.383         0              45             0              79
  33  PepperShaker    -0.224         1.259          -1.460         0              45             0              75
  34  ButterKnife     1.098          0.911          0.322          0              0              0              89
  35  Apple           0.022          0.974          -1.731         0              0              0              79
  36  Pan             -0.600         0.902          -1.090         0              135            0              47
  37  Bread           0.950          0.989          0.447          0              36.810         0              89
  38  CellPhone       -0.868         0.703          0.664          0              0              0              62
  39  DishSponge      0.533          0.910          0.527          0              0              0              89
  40  Tomato          3.235          0.137          1.653          0              225            0              99
  41  Spoon           0.710          0.912          0.627          0              0              0              89
  42  Bowl            3.197          0.174          0.770          0              0              0              67
  43  Mug             -0.546         0.895          -0.679         0              45             0              58
  44  Drawer          0.376          0.572          -1.509         0              0              0
  45  Drawer          3.020          0.769          -0.783         0              180            0
  46  Drawer          -0.860         0.577          1.429          0              0              0
  47  StoveBurner     -0.600         0.897          -1.090         0              135            0
  48  Drawer          0.376          0.191          -1.509         0              0              0
  49  Cabinet         1.402          1.874          -1.259         0              0              0
  50  Cabinet         -0.202         1.963          -1.328         0              0              0
  51  Drawer          -0.860         0.765          1.429          0              0              0
  52  Drawer          -0.677         0.765          -0.700         0              0              0
  53  StoveBurner     -0.420         0.897          -0.920         0              135            0
  54  Drawer          3.020          0.769          -0.407         0              180            0
  55  Drawer          -0.860         0.577          0.663          0              0              0
  56  Cabinet         2.819          1.768          -1.850         0              0              0
  57  CounterTop      3.111          0.936          0.019          0              0              0
  58  CounterTop      -1.007         0.935          -0.039         0              0              0
  59  Drawer          -0.860         0.385          0.663          0              0              0
  60  StoveBurner     -0.419         0.897          -1.269         0              315            0
  61  Drawer          -0.047         0.573          -1.324         0              0              0
  62  Drawer          -0.860         0.765          0.663          0              0              0
  63  Drawer          -0.860         0.385          -0.100         0              0              0
  64  Drawer          0.376          0.380          -1.509         0              0              0
  65  Drawer          -0.860         0.765          -0.100         0              0              0
  66  Drawer          0.376          0.765          -1.509         0              0              0
  67  Cabinet         2.849          0.419          0.409          0              0              0
  68  Drawer          -0.047         0.765          -1.324         0              0              0
  69  Cabinet         2.849          0.419          -0.610         0              0              0
  70  Cabinet         2.849          0.419          -0.959         0              0              0
  71  Cabinet         3.069          1.666          -0.709         0              0              0
  72  Cabinet         2.819          1.768          -1.047         0              0              0
  73  Cabinet         0.620          1.874          -1.259         0              0              0
  74  Cabinet         0.140          1.666          -1.559         0              0              0
  75  Cabinet         -0.189         1.666          -1.340         0              0              0
  76  Cabinet         -0.709         1.963          -0.819         0              0              0
  77  Cabinet         -0.920         1.665          -0.620         0              0              0
  78  Drawer          -0.860         0.190          -0.100         0              0              0
  79  CounterTop      0.133          0.935          -1.457         0              0              0
  80  Drawer          3.020          0.769          0.695          0              180            0
  81  Drawer          -0.677         0.577          -0.700         0              0              0
  82  Drawer          -0.860         0.190          1.429          0              0              0
  83  Drawer          -0.047         0.192          -1.324         0              0              0
  84  Drawer          -0.677         0.193          -0.700         0              0              0
  85  Drawer          -0.860         0.577          -0.100         0              0              0
  86  Sink            3.078          0.887          0.086          0              0              0
  87  StoveBurner     -0.239         0.897          -1.089         0              315            0
  88  Drawer          -0.860         0.190          0.663          0              0              0
  89  CounterTop      1.210          0.937          0.463          0              0              0
  90  Drawer          -0.047         0.381          -1.324         0              0              0
  91  Drawer          -0.677         0.387          -0.700         0              0              0
  92  Mirror          -1.295         1.630          0.045          0              0              0
  93  Drawer          -0.860         0.385          1.429          0              0              0
  94  HousePlant      3.196          0.891          -0.368         0              0              0
  95  StoveKnob       -0.090         0.790          -1.009         270            45             0
  96  StoveKnob       -0.280         0.790          -0.819         270            45             0
  97  StoveKnob       -0.180         0.790          -0.920         270            45             0
  98  StoveKnob       -0.370         0.790          -0.720         270            45             0
  99  GarbageCan      3.137          0.025          1.545          0              225            0
 100  Window          3.703          1.675          0.046          90             90             0
 101  CoffeeMachine   3.214          0.890          0.697          0              270            0
 102  LightSwitch     2.592          1.309          -1.880         0              0              0
 103  SinkBasin       3.069          0.736          0.108          0              90             0
 104  Fridge          1.008          0.029          -1.467         0              0              0
 105  Toaster         -1.035         0.873          -0.396         0              90             0
 106  Microwave       -1.034         0.874          1.428          0              90             0
 107  Faucet          3.305          0.886          0.094          270            180            0
 108  NorthWall
 109  EastWall
 110  SouthWall
 111  WestWall

Plan:
STEP 1: Turn around and face the counter on the left. | STEP 2: Pick up the orange cup from the back of the counter. | STEP 3: Carry the cup and turn around. Face the fridge on the left. | STEP 4: Open the fridge and place the cup inside. Shut the door and then open it. Take out the cup and shut the door. | STEP 5: Carry the cup and turn to the left. Turn left again and face the sink on the right. | STEP 6: Place the cup in the sink. | END