Task: Put a coffee cup in the bottom right cabinet.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          -1.75          0              0              0
   1  Vase            0.505          1.657          -2.596         0              0              0              93
   2  Potato          -1.742         0.800          -1.414         0              90             0              104
   3  Potato          -0.277         1.820          -2.546         0              0              0              95
   4  CreditCard      1.891          0.877          -2.590         0              180            0              96
   5  CreditCard      0.324          0.907          -2.253         0              0              0              71
   6  Egg             -0.277         1.825          -2.610         0              0              0              95
   7  Tomato          0.324          0.949          -2.407         0              0              0              71
   8  SoapBottle      -1.907         0.048          2.172          0              270            0              100
   9  SoapBottle      -1.824         0.479          -0.342         0              90             0              84
  10  SaltShaker      -1.905         0.132          -1.856         0              90             0              70
  11  SaltShaker      -0.840         1.652          -2.676         0              0              0              83
  12  PepperShaker    -1.574         0.907          -1.122         0              0              0              94
  13  PepperShaker    -1.567         1.654          -2.677         0              0              0              85
  14  Bread           0.079          1.184          0.251          0              0              0              69
  15  Lettuce         0.217          1.191          -0.001         0              0              0              69
  16  Lettuce         -2.078         0.878          0.920          0              90             0              102
  17  Apple           -2.162         0.849          1.168          0              90             0              102
  18  Knife           -0.059         1.136          -0.759         0              0              0              69
  19  Fork            0.453          0.911          -2.330         0              0              0              71
  20  Fork            -1.586         0.911          -1.682         0              90             0              94
  21  Spoon           -1.852         0.770          -1.414         0              90             0              104
  22  Mug             -1.731         0.956          -0.168         0              90             0              103
  23  Mug             -1.852         0.764          -1.673         0              90             0              104
  24  Mug             -2.018         0.764          -1.328         0              90             0              104
  25  Spatula         0.969          0.925          -2.560         0              0              0              71
  26  ButterKnife     1.008          0.481          -2.380         0              0              0              77
  27  Kettle          -0.465         0.950          -2.576         0              90             0              78
  28  Kettle          -0.036         0.950          -2.576         0              270            0              72
  29  WineBottle      -1.855         0.137          -1.273         0              90             0              70
  30  DishSponge      -0.848         0.910          -2.253         0              0              0              94
  31  DishSponge      0.892          0.645          -2.333         0              0              0              74
  32  Bowl            0.969          0.907          -2.330         0              0              0              71
  33  Bowl            -0.473         1.108          0.757          0              0              0              69
  34  Book            0.155          1.1            0.617          0              315            0              69
  35  Glassbottle     -1.999         0.229          1.251          0              90             0              102
  36  Knife           0.582          0.936          -2.484         0              90             0              71
  37  Bread           -0.197         1.184          -0.506         0              0              0              69
  38  Fork            0.453          0.911          -2.637         0              0              0              71
  39  Potato          -1.742         0.800          -1.673         0              90             0              104
  40  SoapBottle      -1.438         0.912          -2.329         0              0              0              94
  41  Kettle          -0.335         1.112          -0.001         0              0              0              69
  42  Pan             0.721          0.9            -2.415         0              0              0              71
  43  Plate           1.789          0.549          -2.614         0              180            0              99
  44  Tomato          0.324          0.949          -2.560         0              0              0              71
  45  Vase            1.478          0.555          -2.614         0              180            0              99
  46  Egg             -1.880         0.083          1.933          0              270            0              100
  47  CreditCard      2.096          0.877          -2.536         0              180            0              96
  48  Statue          -0.197         1.110          0.251          0              0              0              69
  49  WineBottle      -1.962         0.048          1.981          0              270            0              100
  50  Pot             -1.219         0.9            -2.356         0              0              0              94
  51  Spatula         0.951          0.330          -2.383         0              0              0              73
  52  PaperTowelRoll  1.482          0.985          -2.590         0              180            0              96
  53  Cup             -1.856         0.909          -0.513         0              0              0              94
  54  Vase            -2.019         0.909          -0.513         0              0              0              94
  55  Bowl            -1.963         0.766          -1.501         0              90             0              104
  56  SaltShaker      -0.995         0.907          -2.637         0              0              0              94
  57  PepperShaker    -1.008         0.133          -2.554         0              0              0              87
  58  Lettuce         0.217          1.191          -0.253         0              0              0              69
  59  ButterKnife     -0.197         1.111          -0.253         0              0              0              69
  60  Apple           -1.611         0.961          -2.475         0              0              0              94
  61  DishSponge      -0.059         1.111          0.757          0              0              0              69
  62  Spoon           -1.693         0.912          -0.698         0              0              0              94
  63  Mug             -0.122         1.785          -2.514         0              0              0              95
  64  StoveBurner     -0.036         0.915          -2.372         0              0              0
  65  Drawer          0.949          0.832          -2.197         0              0              0
  66  Drawer          -1.560         0.839          0.204          0              90             0
  67  StoveBurner     -0.465         0.915          -2.371         0              180            0
  68  Drawer          -1.560         0.839          -0.197         0              90             0
  69  CounterTop      -0.079         1.147          -0.001         0              0              0
  70  Cabinet         -1.549         0.494          -1.964         0              90             0
  71  CounterTop      0.693          0.946          -2.483         0              0              0
  72  StoveBurner     -0.036         0.915          -2.576         0              0              0
  73  Drawer          0.949          0.393          -2.200         0              0              0
  74  Drawer          0.949          0.708          -2.200         0              0              0
  75  Cabinet         -1.549         0.494          0.379          0              90             0
  76  StoveKnob       -0.022         0.881          -2.187         45             0              0
  77  Drawer          0.949          0.560          -2.201         0              0              0
  78  StoveBurner     -0.465         0.915          -2.575         0              180            0
  79  Window          -2.230         1.429          -1.203         0              0              0
  80  StoveKnob       -0.483         0.881          -2.187         45             0              0
  81  Sink            -1.899         0.964          -1.5           0              90             0
  82  StoveKnob       -0.328         0.881          -2.187         45             0              0
  83  Cabinet         -0.727         2.015          -2.460         0              0              0
  84  Drawer          -1.560         0.655          -0.196         0              90             0
  85  Cabinet         -1.685         2.015          -2.461         0              0              0
  86  Cabinet         0.680          0.494          -2.200         0              0              0
  87  Cabinet         -1.179         0.494          -2.200         0              0              0
  88  Cabinet         -1.849         2.015          0.379          0              90             0
  89  Drawer          0.949          0.221          -2.200         0              0              0
  90  StoveKnob       -0.183         0.881          -2.187         45             0              0
  91  Cabinet         0.719          2.015          -2.460         0              0              0
  92  Drawer          -1.560         0.331          -0.196         0              90             0
  93  Cabinet         0.680          2.015          -2.460         0              0              0
  94  CounterTop      -1.868         0.946          -1.205         0              0              0
  95  Microwave       -0.236         1.689          -2.525         0              0              0
  96  Shelf           1.751          0.880          -2.560         0              0              0
  97  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  98  Toaster         -1.835         0.900          0.134          0              90             0
  99  Shelf           1.750          0.552          -2.559         0              0              0
 100  GarbageCan      -1.935         -0.002         2.029          0              270            0
 101  Shelf           1.750          0.172          -2.559         0              0              0
 102  Fridge          -2.096         0.0            1.088          0              0              0
 103  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
 104  SinkBasin       -1.908         0.759          -1.488         0              90             0
 105  LightSwitch     2.329          1.309          -0.159         0              270            0
 106  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 107  Stool           0.702          0.000          -0.514         1.202          65.108         0
 108  Stool           0.743          0.000          0.563          1.227          106.706        0
 109  Faucet          -2.070         1.132          -1.514         0              0              0
 110  NorthWall
 111  EastWall
 112  SouthWall
 113  WestWall

Plan:
STEP 1: Walk 2 steps, turn left for 2 steps, turn right for 4 steps and turn left and walk to the coffee machine on the counter. | STEP 2: Pick up the coffee cup from the coffee machine. | STEP 3: Turn right and walk 5 steps and turn left to face the refrigerator,  | STEP 4: Open the refrigerator and put the coffee cup on the stop shelf to the right of the green item, wait a few seconds and open the refrigerator and take out the coffee cup and close the door. | STEP 5: Turn around and takes a step, take a right for 2 steps and take another right, walk one step. | STEP 6: Open the bottom cabinet door on the far right of the counter, put the coffee cup in the cabinet toward the front, and shut the cabinet door. | END