Task: Place a cup in the coffee maker.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.869          -1.0           0              0              0
   1  DishSponge      -1.578         0.699          -3.782         0              0              0              68
   2  DishSponge      0.949          1.463          -0.269         0              0              0              52
   3  ButterKnife     0.149          0.900          1.187          0              270            0              67
   4  Spatula         -1.886         0.716          -0.983         0              270            0              77
   5  Spoon           -0.252         0.901          0.929          0              270            0              67
   6  Fork            0.715          0.773          -0.680         0              270            0              64
   7  Fork            0.799          0.773          -0.845         0              0              0              64
   8  Egg             0.661          0.702          0.387          0              0              0              46
   9  Cup             -1.056         0.899          0.758          0              270            0              67
  10  SoapBottle      0.901          0.663          0.569          0              0              0              46
  11  SoapBottle      0.803          0.882          -0.245         0              0              0              41
  12  PepperShaker    0.994          1.460          0.349          0              0              0              53
  13  PepperShaker    0.841          0.660          0.387          0              0              0              46
  14  SaltShaker      0.732          0.012          -0.250         0              0              0              51
  15  SaltShaker      -1.535         0.696          -3.445         0              0              0              68
  16  Lettuce         0.721          0.751          0.569          0              0              0              46
  17  Lettuce         0.149          0.987          1.101          0              270            0              67
  18  Mug             -2.137         0.696          -1.199         0              0              0              77
  19  Pot             -2.097         0.930          1.049          0              0              0              48
  20  Plate           -2.023         0.692          -1.447         0              0              0              77
  21  Fork            0.781          0.665          0.387          0              270            0              46
  22  SoapBottle      -1.260         0.051          -3.684         0              270            0              56
  23  Apple           0.669          0.519          -1.725         0              270            0              61
  24  Pan             -1.552         0.930          0.785          0              0              0              45
  25  Egg             -1.334         0.088          -3.574         0              270            0              56
  26  Spatula         0.769          0.774          -0.124         0              0              0              40
  27  Potato          0.669          1.191          -2.113         0              270            0              61
  28  Cup             -1.803         0.700          -1.416         0              0              0              77
  29  SaltShaker      0.767          1.460          -0.022         0              0              0              52
  30  PepperShaker    0.898          0.012          -0.119         0              0              0              51
  31  ButterKnife     0.877          0.883          -0.245         0              0              0              41
  32  DishSponge      0.877          0.883          0.029          0              0              0              41
  33  Bread           -1.056         0.944          1.101          0              270            0              67
  34  Lettuce         -0.051         0.987          1.187          0              270            0              67
  35  Tomato          0.708          0.713          -2.035         0              270            0              61
  36  Spoon           0.841          0.665          0.630          0              0              0              46
  37  Knife           0.961          0.688          0.387          0              90             0              46
  38  Mug             0.858          1.458          0.039          0              270            0              52
  39  Bowl            0.655          0.882          0.029          0              0              0              41
  40  Drawer          0.706          0.766          -0.125         0              0              0
  41  CounterTop      0.792          0.919          -0.108         0              0              0
  42  Mirror          1.093          1.602          -0.643         0              0              0
  43  StoveBurner     -2.096         0.890          0.785          0              0              0
  44  Cabinet         0.507          0.345          -0.426         0              0              0
  45  StoveBurner     -1.552         0.890          0.785          0              0              0
  46  SideTable       0.770          -0.030         0.443          0              0              0
  47  Sink            0.753          0.882          -0.680         0              0              0
  48  StoveBurner     -2.096         0.890          1.049          0              0              0
  49  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  50  StoveBurner     -1.554         0.890          1.049          0              0              0
  51  Cabinet         0.507          0.345          0.156          0              0              0
  52  Cabinet         0.717          1.822          -0.398         0              0              0
  53  Cabinet         0.717          1.822          0.669          0              0              0
  54  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  55  Toaster         -0.522         0.886          1.081          0              180            0
  56  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  57  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  58  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  59  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  60  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  61  Fridge          0.680          -0.031         -1.957         0              0              0
  62  Window          -2.424         1.639          -2.453         90             270            0
  63  Microwave       -1.994         0.690          -3.651         0              0              0
  64  SinkBasin       0.757          0.762          -0.688         0              270            0
  65  LightSwitch     1.102          1.368          -3.737         0              270            0
  66  Shelf           -0.350         0.124          0.857          0              0              0
  67  DiningTable     -0.350         -0.025         0.857          0              0              0
  68  DiningTable     -1.909         -0.032         -3.507         0              0              0
  69  Blinds          -2.343         2.151          -2.437         0              270            0
  70  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  71  AluminumFoil    0.751          0.225          0.287          0              0              0
  72  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  73  Shelf           0.771          0.226          0.445          0              0              0
  74  Shelf           0.771          0.456          0.446          0              0              0
  75  Faucet          1.025          0.873          -0.678         270            180            0
  76  Shelf           -0.350         0.497          0.857          0              0              0
  77  DiningTable     -1.929         -0.035         -1.398         0              90             0
  78  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Walk towards the toaster, turn right, walk towards the sink. | STEP 2: Open the cabinet above the sink, then take the cup out, close the door. | STEP 3: Turn all the way around, then walk towards the refrigerator. | STEP 4: Place the cup on the top shelf of the refrigerator next to a tomato, then close the door. | STEP 5: Remove the cup from the refrigerator, then turn left towards the coffee maker. | STEP 6: Place the cup in the coffee maker. | END