Task: get a cup ready for coffee to be poured

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          0.899          2.75           0              90             0
   1  Pan             -0.488         0.924          5.603          0              0              0              63
   2  Pencil          -2.093         0.746          1.985          0              0              0              76
   3  Potato          -0.401         1.104          3.355          0              270            0              111
   4  Potato          -0.104         0.958          4.944          0              0              0              63
   5  DishSponge      -0.195         2.134          5.779          0              180            0              77
   6  DishSponge      -1.693         0.923          1.573          0              0              0              60
   7  ButterKnife     -4.184         0.923          4.640          0              90             0              78
   8  ButterKnife     -3.613         0.923          5.336          0              90             0              78
   9  WineBottle      -4.064         1.457          1.907          0              45             0              79
  10  WineBottle      -1.860         0.924          1.724          0              0              0              60
  11  Pot             -2.469         0.930          1.712          0              270            0              93
  12  Spoon           -0.181         0.926          5.932          0              0              0              63
  13  Spatula         -4.094         0.770          2.768          0              270            0              58
  14  Egg             -3.712         0.104          6.498          0              270            0              104
  15  Egg             -2.688         1.582          1.666          0              0              0              108
  16  Plate           -0.301         1.581          3.470          0              270            0              111
  17  Plate           -0.301         1.336          3.850          0              270            0              111
  18  Knife           -4.033         0.953          5.159          0              270            0              78
  19  Knife           -1.777         0.953          1.875          0              0              0              60
  20  SoapBottle      -0.286         2.134          4.770          0              90             0              59
  21  SoapBottle      -3.784         0.068          6.375          0              90             0              104
  22  SaltShaker      -1.829         1.449          1.671          0              0              0              97
  23  PepperShaker    -2.015         0.743          1.926          0              0              0              76
  24  PepperShaker    -1.860         0.919          1.951          0              0              0              60
  25  Lettuce         -0.488         1.020          4.944          0              0              0              63
  26  Mug             -0.258         0.920          5.273          0              0              0              63
  27  Mug             -4.312         0.918          2.766          0              0              0              78
  28  Egg             -3.613         0.959          5.489          0              90             0              78
  29  Apple           -4.121         0.844          3.347          0              270            0              110
  30  Knife           -0.334         0.954          5.273          0              0              0              63
  31  Potato          -2.026         0.956          1.648          0              0              0              60
  32  Fork            -3.340         0.924          1.875          0              0              0              78
  33  Bowl            -4.411         0.920          3.863          0              90             0              78
  34  Plate           -4.411         0.924          5.159          0              90             0              78
  35  Lettuce         -2.026         1.018          1.875          0              0              0              60
  36  Bread           -4.234         0.990          3.985          0              0              0              78
  37  Tomato          -0.383         1.637          3.228          0              270            0              111
  38  WineBottle      -3.639         0.069          6.292          0              270            0              104
  39  Spatula         -4.196         0.805          3.410          0              270            0              110
  40  PaperTowelRoll  -0.334         1.029          4.944          0              0              0              63
  41  Cup             -3.982         1.455          1.780          0              45             0              79
  42  Pencil          -3.675         0.068          6.375          0              270            0              104
  43  Pan             -2.454         0.933          2.023          0              240.000        0              66
  44  Pot             -2.924         0.930          1.712          0              180            0              75
  45  SaltShaker      -1.905         1.449          1.671          0              0              0              97
  46  SoapBottle      -1.693         0.923          1.8            0              0              0              60
  47  PepperShaker    -0.532         0.742          5.033          0              270            0              57
  48  ButterKnife     -1.943         0.923          2.026          0              0              0              60
  49  DishSponge      -4.051         0.077          4.584          0              0              0              71
  50  Spoon           -0.488         0.926          6.261          0              0              0              63
  51  Mug             -4.036         0.075          3.419          0              0              0              83
  52  Cabinet         -3.203         1.931          1.777          0              0              0
  53  Cabinet         -3.187         0.390          2.089          0              0              0
  54  Cabinet         -0.637         0.387          6.882          0              180            0
  55  Drawer          -3.797         0.781          1.961          0              0              0
  56  Cabinet         -3.036         0.387          5.029          0              90             0
  57  Drawer          -0.509         0.775          5.268          0              270            0
  58  Drawer          -4.125         0.798          2.499          0              0              0
  59  Cabinet         -0.331         2.249          4.308          0              180            0
  60  CounterTop      -1.872         0.958          1.799          0              0              0
  61  StoveBurner     -2.924         0.924          2.012          0              0              0
  62  Cabinet         -0.331         2.249          6.806          0              180            0
  63  CounterTop      -0.345         0.960          5.603          0              0              0
  64  Cabinet         -3.039         1.935          5.321          0              90             0
  65  Cabinet         -3.922         0.397          2.088          0              0              0
  66  StoveBurner     -2.467         0.924          2.012          0              0              0
  67  Cabinet         -0.331         2.249          5.505          0              180            0
  68  Drawer          -0.509         0.775          4.617          0              270            0
  69  Drawer          -3.509         0.777          5.157          0              180            0
  70  Cabinet         -3.961         0.388          2.878          0              0              0
  71  Cabinet         -3.961         0.388          4.342          0              0              0
  72  Cabinet         -0.637         0.387          5.582          0              180            0
  73  Cabinet         -0.637         0.388          4.299          0              180            0
  74  Cabinet         -0.637         0.388          5.599          0              180            0
  75  StoveBurner     -2.924         0.924          1.712          0              180            0
  76  Drawer          -1.859         0.775          1.961          0              0              0
  77  Cabinet         -0.331         2.249          5.609          0              180            0
  78  CounterTop      -4.260         0.958          4.943          0              90             0
  79  Cabinet         -4.284         1.931          2.226          0              0              0
  80  Cabinet         -0.331         2.249          3.010          0              180            0
  81  Drawer          -3.801         0.777          5.157          0              180            0
  82  Cabinet         -4.112         1.935          5.321          0              90             0
  83  Cabinet         -3.968         0.388          3.662          0              0              0
  84  Drawer          -3.418         0.777          1.961          0              0              0
  85  Drawer          -4.090         0.777          4.661          0              90             0
  86  Faucet          -4.441         0.909          3.288          270            0              0
  87  Cabinet         -0.331         2.249          4.207          0              180            0
  88  Cabinet         -3.961         0.388          2.119          0              0              0
  89  Drawer          -0.509         0.775          5.920          0              270            0
  90  Drawer          -3.193         0.777          5.157          0              180            0
  91  Cabinet         -3.968         0.388          2.894          0              0              0
  92  Cabinet         -3.667         0.387          5.029          0              90             0
  93  StoveBurner     -2.469         0.924          1.712          0              270            0
  94  Cabinet         -1.539         0.388          2.090          0              0              0
  95  Sink            -4.190         0.921          3.279          0              0              0
  96  Cabinet         -3.641         0.387          5.029          0              90             0
  97  Cabinet         -1.583         1.931          1.777          0              0              0
  98  Drawer          -0.509         0.775          6.568          0              270            0
  99  CoffeeMachine   -0.279         0.912          6.556          0              270            0
 100  StoveKnob       -2.347         1.095          1.560          288.012        180            180
 101  StoveKnob       -2.788         1.095          1.560          288.012        180            180
 102  StoveKnob       -2.965         1.095          1.560          288.012        180            180
 103  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 104  GarbageCan      -3.711         -0.030         6.376          0              270            0
 105  Toaster         -3.578         0.912          1.763          0              0              0
 106  Curtains        -4.522         2.252          3.391          90             90             0
 107  Window          -4.868         1.629          3.309          90             270            0
 108  Microwave       -2.693         1.430          1.689          0              0              0
 109  LightSwitch     -1.588         1.169          1.506          0              0              0
 110  SinkBasin       -4.196         0.780          3.276          0              270            0
 111  Fridge          -0.324         -0.001         3.602          0              0              0
 112  NorthWall
 113  EastWall
 114  SouthWall
 115  WestWall

Plan:
STEP 1: walk over to the kitchen counter left of the fridge | STEP 2: grab a white cup off of the counter | STEP 3: walk over to the fridge | STEP 4: open the top fridge doors and put the cup inside, let it cool then take it out again | STEP 5: walk over to the left side of the kitchen counter | STEP 6: place the white cup under the faucet of the coffee maker | END