Task: Get a cup from the freezer, wash it, put it in the cupboard

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          0.0            0              90             0
   1  Pan             0.048          0.910          1.317          0              0              0              47
   2  Potato          -2.372         0.947          0.331          0              0              0              75
   3  DishSponge      -2.349         0.114          1.267          0              0              0              53
   4  DishSponge      -2.241         0.114          0.386          0              0              0              72
   5  ButterKnife     1.426          0.911          0.494          0              0              0              56
   6  Fork            -2.379         0.774          0.905          0              90             0              52
   7  Spoon           -2.379         0.774          0.486          0              90             0              64
   8  Spatula         -2.318         0.788          0.534          0              270            0              64
   9  Pot             1.411          0.929          0.064          0              0              0              76
  10  Pot             -2.289         0.914          1.530          0              0              0              75
  11  Knife           -2.372         0.936          1.830          0              180            0              75
  12  Knife           -2.257         0.799          -0.073         0              90             0              65
  13  Bowl            -2.609         1.930          -1.034         0              0              0              68
  14  PepperShaker    -2.685         1.928          -0.860         0              0              0              68
  15  PepperShaker    1.684          0.906          0.435          0              270            0              56
  16  SaltShaker      -0.471         0.905          1.764          0              0              0              47
  17  SaltShaker      -0.471         0.905          1.540          0              0              0              47
  18  Lettuce         -0.471         0.994          0.423          0              0              0              47
  19  Bread           -2.372         0.996          1.230          0              0              0              75
  20  Bread           -2.485         1.175          -0.790         0              90             0              79
  21  Mug             -2.605         1.532          2.840          0              0              0              51
  22  Mug             0.373          1.658          -1.729         0              90             0              54
  23  Apple           -2.513         0.656          -0.514         0              90             0              79
  24  Pan             1.412          0.929          -0.335         0              0              0              48
  25  Knife           -0.601         0.936          1.764          0              90             0              47
  26  Apple           -2.559         0.656          -1.051         0              90             0              79
  27  Bowl            -2.439         1.086          -0.602         0              90             0              79
  28  Fork            -2.621         0.911          0.331          0              0              0              75
  29  Bread           -2.455         0.996          0.631          0              0              0              75
  30  Plate           -2.289         0.913          0.931          0              0              0              75
  31  Egg             1.598          0.941          0.435          0              0              0              56
  32  Kettle          -2.310         0.115          0.957          0              0              0              73
  33  Potato          -0.601         0.947          0.423          0              270            0              47
  34  SaltShaker      -2.572         1.928          -1.207         0              0              0              68
  35  Lettuce         -0.211         0.994          0.423          0              0              0              47
  36  Cup             -2.393         1.298          -0.885         0              90             0              79
  37  SoapBottle      -2.704         0.912          1.230          0              0              0              75
  38  Spatula         -0.471         0.925          0.647          0              0              0              47
  39  PaperTowelRoll  1.442          1.015          -0.789         0              45             0              57
  40  ButterKnife     -0.341         0.910          0.870          0              0              0              47
  41  PepperShaker    1.341          0.906          0.406          0              0              0              56
  42  DishSponge      1.687          0.184          0.679          0              0              0              86
  43  Pot             1.691          0.929          -0.335         0              0              0              55
  44  Spoon           -2.287         0.774          -0.121         0              90             0              65
  45  Tomato          -2.613         0.220          -1.012         0              90             0              79
  46  Mug             -2.390         0.204          -0.902         0              180            0              79
  47  CounterTop      -0.360         0.946          1.093          0              0              0
  48  StoveBurner     1.412          0.923          -0.335         0              0              0
  49  StoveKnob       1.878          1.093          0.018          287.989        90             0
  50  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  51  Cabinet         -2.446         1.948          2.924          0              0              0
  52  Drawer          -2.276         0.792          0.902          0              0              0
  53  Cabinet         -2.145         0.402          1.578          0              0              0
  54  Cabinet         0.149          2.008          -1.603         0              90             0
  55  StoveBurner     1.691          0.923          -0.335         0              0              0
  56  CounterTop      1.585          0.946          0.405          0              0              0
  57  CounterTop      0.474          0.946          -1.625         0              0              0
  58  StoveBurner     1.691          0.923          0.064          0              0              0
  59  Cabinet         -2.446         1.948          1.687          0              0              0
  60  Cabinet         -2.446         1.948          1.640          0              0              0
  61  Sink            1.381          0.810          -1.271         0              225            0
  62  StoveKnob       1.878          1.093          0.150          287.989        90             0
  63  Cabinet         -2.145         0.402          -0.236         0              0              0
  64  Drawer          -2.276         0.792          0.437          0              0              0
  65  Drawer          -2.276         0.792          -0.027         0              0              0
  66  Cabinet         1.572          2.008          0.474          0              0              0
  67  Cabinet         1.572          2.008          -0.775         0              0              0
  68  Cabinet         -2.445         2.148          -1.275         0              0              0
  69  Cabinet         -2.446         2.148          -0.284         0              0              0
  70  Cabinet         -2.446         1.948          0.355          0              0              0
  71  Cabinet         -2.446         1.948          0.405          0              0              0
  72  Cabinet         -2.145         0.402          0.644          0              0              0
  73  Cabinet         -2.145         0.402          0.695          0              0              0
  74  Cabinet         -2.285         1.968          -1.325         0              180            0
  75  CounterTop      -1.485         0.946          1.319          0              0              0
  76  StoveBurner     1.411          0.923          0.064          0              0              0
  77  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  78  Drawer          -2.276         0.792          1.368          0              0              0
  79  Fridge          -2.475         0.0            -0.782         0              90             0
  80  LightSwitch     -0.929         1.350          -1.950         0              0              0
  81  Toaster         -2.564         0.900          1.876          0              90             0
  82  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  83  Window          1.508          1.534          -1.496         90             135            0
  84  Window          1.973          1.521          1.121          90             90             0
  85  SinkBasin       1.149          0.753          -1.380         0              225            0
  86  GarbageCan      1.646          -0.000         0.679          0              0              0
  87  Microwave       -2.580         0.900          2.440          0              90             0
  88  Stool           0.439          0.010          0.747          0              0              0
  89  Stool           -2.303         0.010          1.839          0              0              0
  90  Faucet          1.235          1.138          -1.473         0              225            0
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: Turn around and walk to the freezer. | STEP 2: Open the freezer door, pick up the cup on the top rack, close the freezer door. | STEP 3: Turn around and walk to the sink. | STEP 4: Place the cup in the sink, turn the faucet on to partially fill the sink with water, turn the faucet off, wash the cup, drain the sink, pick the cup up. | STEP 5: Turn around and walk toward the stove, look up at the cupboard above the stove. | STEP 6: Open the door of the right cupboard, place the cup in the cupboard, close the door. | END