Task: Get cup from sink, chill in refrigerator, put cup on table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          2.5            0              270            0
   1  Potato          -0.415         1.259          0.475          0              0              0              78
   2  Potato          -3.742         1.155          0.567          0              0              0              62
   3  DishSponge      -2.555         0.902          0.544          0              0              0              64
   4  DishSponge      -1.156         0.049          0.381          0              0              0              59
   5  ButterKnife     -0.292         1.039          1.920          0              0              0              55
   6  ButterKnife     -0.827         1.124          0.659          0              0              0              67
   7  Fork            -1.995         0.488          0.579          0              0              0              56
   8  Spoon           -1.465         0.932          0.359          0              0              0              77
   9  Spoon           -1.199         0.932          0.498          0              90             0              77
  10  Spatula         -0.538         1.062          2.817          0              0              0              55
  11  Spatula         -0.538         1.063          3.042          0              90             0              55
  12  Cup             -1.553         0.929          0.221          0              0              0              77
  13  Plate           -3.814         1.123          0.284          0              0              0              62
  14  Plate           -3.506         1.558          2.849          0              90             0              72
  15  Knife           -1.465         0.963          0.498          0              0              0              77
  16  SoapBottle      -0.908         1.047          2.144          0              0              0              55
  17  Tomato          -3.747         0.153          2.008          0              0              0              76
  18  Tomato          -2.388         1.165          0.190          0              0              0              65
  19  Bowl            -1.562         0.046          0.381          0              0              0              70
  20  Bowl            -2.262         1.122          0.379          0              0              0              65
  21  SaltShaker      -2.403         0.091          0.646          0              0              0              58
  22  SaltShaker      -2.135         0.898          0.544          0              0              0              63
  23  PepperShaker    -2.639         0.483          0.646          0              0              0              58
  24  Lettuce         -0.785         1.124          3.042          0              0              0              55
  25  Mug             -0.785         1.043          1.920          0              0              0              55
  26  Mug             -0.377         1.095          3.194          0              270            0              71
  27  Apple           -1.288         0.998          0.567          0              0              0              77
  28  Fork            -2.137         1.125          0.473          0              90             0              65
  29  SoapBottle      -1.663         1.154          0.095          0              0              0              52
  30  Pot             -3.475         1.133          0.227          0              90             0              51
  31  Ladle           -2.011         1.164          0.190          0              90             0              65
  32  Potato          -3.593         0.142          1.948          0              0              0              76
  33  Plate           -0.662         1.046          2.144          0              0              0              55
  34  Bread           -0.184         1.119          1.892          0              0              0              55
  35  Lettuce         -2.514         1.202          0.379          0              0              0              65
  36  Spatula         -0.662         1.063          3.042          0              90             0              55
  37  Pan             -3.000         1.133          0.227          0              270            0              69
  38  Egg             -3.320         0.953          2.419          0              90             0              72
  39  Cup             -1.199         0.929          0.359          0              0              0              77
  40  SaltShaker      -1.156         0.045          0.494          0              0              0              59
  41  Knife           -0.415         1.079          2.593          0              0              0              55
  42  Bowl            -3.440         1.560          3.061          0              90             0              72
  43  PepperShaker    -2.184         0.092          0.646          0              0              0              57
  44  ButterKnife     -0.785         1.047          2.144          0              0              0              55
  45  Apple           -1.111         0.998          0.567          0              0              0              77
  46  Tomato          -3.572         0.952          2.991          0              90             0              72
  47  DishSponge      -0.538         1.046          2.369          0              0              0              55
  48  Spoon           -0.538         1.049          2.144          0              90             0              55
  49  Mug             -0.538         1.043          2.593          0              0              0              55
  50  StoveKnob       -3.322         1.053          0.709          45             0              0
  51  StoveBurner     -3.474         1.097          0.227          0              180            0
  52  Sink            -1.394         0.982          0.439          0              0              0
  53  StoveBurner     -3.474         1.097          0.479          0              180            0
  54  StoveKnob       -3.164         1.053          0.709          45             0              0
  55  DiningTable     -0.620         0.017          2.486          0              0              0
  56  Drawer          -2.043         0.608          0.594          0              0              0
  57  Drawer          -2.043         0.216          0.594          0              0              0
  58  Drawer          -2.498         0.216          0.594          0              0              0
  59  Cabinet         -1.001         0.393          0.734          0              0              0
  60  StoveBurner     -3.000         1.097          0.480          0              0              0
  61  StoveKnob       -3.492         1.053          0.709          45             0              0
  62  CounterTop      -3.856         1.160          0.379          0              0              0
  63  Drawer          -2.043         0.937          0.599          0              0              0
  64  Drawer          -2.509         0.937          0.599          0              0              0
  65  CounterTop      -2.280         1.160          0.379          0              0              0
  66  StoveKnob       -2.985         1.053          0.709          45             0              0
  67  CounterTop      -0.514         1.160          0.492          0              0              0
  68  Drawer          -2.498         0.608          0.594          0              0              0
  69  StoveBurner     -3.000         1.097          0.227          0              0              0
  70  Cabinet         -1.733         0.393          0.734          0              0              0
  71  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  72  Fridge          -3.519         0.0            2.717          0              90             0
  73  Window          -1.394         1.924          0.014          90             0              0
  74  Window          -3.266         1.924          0.014          90             0              0
  75  Toaster         -0.225         1.038          2.865          0              270            0
  76  GarbageCan      -3.696         0.002          2.008          0              0              0
  77  SinkBasin       -1.389         0.921          0.428          0              0              0
  78  Microwave       -0.366         1.113          0.430          0              0              0
  79  HousePlant      -2.155         1.101          0.169          0              332.897        0
  80  LightSwitch     -2.584         1.299          3.5            0              180            0
  81  Faucet          -1.393         1.373          0.168          0              270            0
  82  NorthWall
  83  SouthWall
  84  SouthWall

Plan:
STEP 1: Turn left, proceed to sink. | STEP 2: Pick up cup from sink, second cup on the right. | STEP 3: Turn around, go to wall, turn left.  Proceed to refrigerator. | STEP 4: Open refrigerator, place cup on top shelf left of tomato.  Shut refrigerator, wait four seconds, open refrigerator.  Remove cup, shut refrigerator. | STEP 5: Turn around, proceed to table. | STEP 6: Place cup on table in front of lettuce. | END