Task: Put the 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           0.0            0.900          2.5            0              180            0
   1  Potato          -1.209         0.970          0.765          0              0              0              67
   2  DishSponge      -1.039         1.501          0.757          0              0              0              53
   3  DishSponge      -0.876         0.937          1.154          0              0              0              67
   4  ButterKnife     1.516          0.937          0.806          0              0              0              47
   5  Fork            -0.689         0.747          0.982          0              270            0              65
   6  Fork            -1.126         0.938          0.998          0              0              0              67
   7  Cup             1.662          1.947          1.783          0              0              0              59
   8  Cup             1.684          1.595          1.808          0              270            0              81
   9  Cup             1.516          0.936          2.118          0              0              0              47
  10  Plate           1.391          0.086          2.321          0              0              0              51
  11  Plate           -0.791         0.088          0.845          0              0              0              54
  12  Tomato          -0.971         1.380          -0.034         0              90             0              74
  13  Tomato          -1.012         0.876          0.042          0              90             0              74
  14  Bowl            -0.924         1.495          0.042          0              90             0              74
  15  Bowl            1.430          0.078          0.777          0              0              0              68
  16  PepperShaker    -1.142         1.947          1.411          0              0              0              58
  17  PepperShaker    -0.861         0.742          2.585          0              180            0              43
  18  Lettuce         -1.043         1.028          1.076          0              0              0              67
  19  Apple           -0.877         1.548          0.272          0              90             0              74
  20  Apple           1.423          0.119          2.879          0              0              0              80
  21  Lettuce         1.456          1.014          1.681          3.527          59.995         0              69
  22  SoapBottle      -1.078         1.501          1.018          0              0              0              53
  23  Bread           -0.923         0.990          2.265          0              302.470        0              42
  24  Fork            1.448          0.747          0.780          0              90             0              72
  25  Tomato          -0.924         1.380          0.195          0              90             0              74
  26  Bowl            -0.899         0.562          0.119          0              90             0              74
  27  Pot             -0.818         0.927          0.816          0              270            0              67
  28  Spatula         1.310          0.761          0.780          0              90             0              72
  29  Knife           1.310          0.768          2.527          0              270            0              45
  30  SaltShaker      1.269          1.068          0.274          0              0              0              48
  31  Apple           1.619          1.645          1.598          0              270            0              81
  32  PepperShaker    1.589          1.497          2.585          0              0              0              61
  33  ButterKnife     -0.793         0.937          1.076          0              0              0              67
  34  Potato          -1.012         0.847          -0.110         0              90             0              74
  35  Plate           1.666          1.508          0.965          0              0              0              49
  36  DishSponge      -1.153         1.827          0.250          0              0              0              56
  37  Egg             1.587          1.631          1.756          0              270            0              81
  38  Cup             1.346          1.070          -0.131         0              0              0              48
  39  Pan             -1.109         0.930          1.865          0              0              0              66
  40  Spoon           1.483          0.747          2.391          0              90             0              45
  41  Mug             -1.001         1.496          2.583          0              180            0              64
  42  CounterTop      -0.973         0.973          2.386          0              0              0
  43  Drawer          -0.783         0.774          2.381          0              180            0
  44  StoveBurner     -1.108         0.922          1.470          0              0              0
  45  Drawer          1.370          0.774          2.391          0              0              0
  46  Stool           -0.748         0.008          3.116          0              0              0
  47  CounterTop      1.504          0.973          2.309          0              0              0
  48  Cabinet         1.219          1.388          0.591          0              0              0
  49  Cabinet         1.500          2.113          1.164          0              0              0
  50  Cabinet         1.219          2.010          0.591          0              0              0
  51  Cabinet         1.219          0.388          2.105          0              0              0
  52  Cabinet         1.219          0.553          0.591          0              0              0
  53  Cabinet         -0.913         2.113          1.164          0              0              0
  54  Cabinet         -0.633         0.388          0.627          0              0              0
  55  Cabinet         -0.913         2.050          -0.329         0              0              0
  56  Cabinet         -0.913         2.113          0.583          0              0              0
  57  Cabinet         -0.913         2.113          2.082          0              0              0
  58  Cabinet         -0.913         2.113          1.207          0              0              0
  59  Cabinet         1.500          2.113          2.082          0              0              0
  60  Cabinet         1.500          2.113          1.207          0              0              0
  61  Cabinet         1.500          1.810          2.691          0              0              0
  62  Cabinet         1.500          1.810          2.101          0              0              0
  63  Cabinet         -0.633         0.388          2.105          0              0              0
  64  Cabinet         -0.911         1.810          2.700          0              180            0
  65  Drawer          -0.783         0.774          0.915          0              180            0
  66  StoveBurner     -1.108         0.922          1.865          0              0              0
  67  CounterTop      -0.972         0.973          0.921          0              0              0
  68  Cabinet         1.219          0.388          0.631          0              0              0
  69  Sink            1.544          0.869          1.639          0              180            0
  70  StoveBurner     -0.832         0.922          1.865          0              0              0
  71  StoveBurner     -0.831         0.922          1.470          0              0              0
  72  Drawer          1.370          0.774          0.916          0              0              0
  73  Cabinet         -0.911         1.810          2.111          0              180            0
  74  Fridge          -1.001         0.0            0.119          0              0              0
  75  StoveKnob       -0.648         0.926          1.923          0              270            0
  76  StoveKnob       -0.648         0.926          1.363          0              270            0
  77  StoveKnob       -0.648         0.926          1.513          0              270            0
  78  StoveKnob       -0.648         0.926          1.763          0              270            0
  79  Toaster         -1.002         0.926          2.561          0              90             0
  80  GarbageCan      1.451          -0.029         2.912          0              0              0
  81  Microwave       1.632          1.480          1.645          0              270            0
  82  Window          0.224          1.601          3.509          90             0              0
  83  CoffeeMachine   1.692          0.926          2.453          0              270            0
  84  SinkBasin       1.461          0.833          1.369          0              180            0
  85  LightSwitch     0.451          1.412          -1.674         0              0              0
  86  Faucet          1.707          0.925          1.363          0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Move to the counter on the left of the sink. | STEP 2: Pick up the cup from the counter | STEP 3: Bring the cup over to the fridge. | STEP 4: Open the fridge, place the cup inside, close the fridge, wait 5 seconds, open the fridge and pick up the cup.  | STEP 5: Bring the cup to the sink. | STEP 6: Place the cup into the sink.  | END