Task: Put a cold coffee cup in the cabinet.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          1.75           0              270            0
   1  Pan             1.412          0.929          -0.335         0              0              0              54
   2  Pan             1.691          0.929          -0.335         0              0              0              61
   3  Potato          -2.393         1.125          -1.074         0              90             0              85
   4  Potato          1.372          0.954          -1.150         0              225            0              67
   5  DishSponge      0.516          1.663          -1.693         0              90             0              60
   6  DishSponge      -2.564         1.537          1.192          0              0              0              66
   7  ButterKnife     -0.471         0.910          1.764          0              0              0              53
   8  ButterKnife     0.788          0.910          -1.454         0              45             0              63
   9  Kettle          1.691          0.929          0.064          0              0              0              64
  10  Kettle          -0.601         0.911          0.870          0              90             0              53
  11  Fork            1.256          0.920          -1.196         0              225            0              67
  12  Spoon           -2.227         0.774          0.809          0              90             0              58
  13  Spoon           -0.211         0.912          1.540          0              0              0              53
  14  Spatula         -2.206         0.925          1.230          0              90             0              81
  15  Spatula         -2.227         0.788          0.534          0              270            0              70
  16  Pot             -2.605         1.541          2.550          0              0              0              57
  17  Pot             -0.341         0.914          0.423          0              0              0              53
  18  Egg             -0.730         0.941          0.870          0              0              0              53
  19  Cup             0.195          0.908          -1.369         0              0              0              63
  20  Plate           -2.538         0.913          1.530          0              0              0              81
  21  Knife           -0.341         0.936          0.647          0              0              0              53
  22  Tomato          -2.455         0.953          0.931          0              0              0              81
  23  Tomato          -2.621         0.953          1.230          0              0              0              81
  24  Bowl            -2.485         1.297          -0.790         0              90             0              85
  25  Bowl            1.543          0.908          -0.792         0              45             0              63
  26  SaltShaker      1.512          0.906          0.435          0              0              0              62
  27  Lettuce         -2.289         0.994          0.631          0              0              0              81
  28  Lettuce         -2.466         0.677          -0.962         0              90             0              85
  29  Apple           1.646          0.246          0.679          0              0              0              92
  30  Pan             -0.601         0.910          1.094          0              180            0              53
  31  Knife           -2.372         0.936          1.230          0              0              0              81
  32  Apple           -2.635         1.077          2.278          0              90             0              93
  33  Bowl            -2.513         0.591          -0.603         0              90             0              85
  34  Fork            -2.379         0.773          1.322          0              90             0              84
  35  Bread           -0.712         0.980          0.426          0              346.287        0              53
  36  Plate           -2.351         0.900          0.054          0              0              0              81
  37  Egg             1.520          0.215          0.596          0              0              0              92
  38  Kettle          -0.211         0.911          1.317          0              0              0              53
  39  Potato          1.267          0.954          -1.045         0              225            0              67
  40  SaltShaker      -2.384         0.109          0.076          0              0              0              69
  41  Lettuce         0.048          0.994          1.317          0              0              0              53
  42  Cup             -2.206         0.908          1.530          0              0              0              81
  43  SoapBottle      0.048          0.912          0.870          0              0              0              53
  44  Spatula         1.356          0.933          -1.026         0              225            0              67
  45  PaperTowelRoll  -2.621         1.015          0.331          0              0              0              81
  46  ButterKnife     -2.621         0.910          0.931          0              0              0              81
  47  PepperShaker    0.048          0.905          0.647          0              0              0              53
  48  DishSponge      -2.237         0.114          -0.023         0              0              0              69
  49  Pot             -2.538         0.914          0.631          0              0              0              81
  50  Spoon           -0.341         0.912          0.870          0              0              0              53
  51  Tomato          -2.532         1.131          -0.979         0              90             0              85
  52  Mug             0.464          0.955          -1.593         0              0              0              63
  53  CounterTop      -0.360         0.946          1.093          0              0              0
  54  StoveBurner     1.412          0.923          -0.335         0              0              0
  55  StoveKnob       1.878          1.093          0.018          287.989        90             0
  56  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  57  Cabinet         -2.446         1.948          2.924          0              0              0
  58  Drawer          -2.276         0.792          0.902          0              0              0
  59  Cabinet         -2.145         0.402          1.578          0              0              0
  60  Cabinet         0.149          2.008          -1.603         0              90             0
  61  StoveBurner     1.691          0.923          -0.335         0              0              0
  62  CounterTop      1.585          0.946          0.405          0              0              0
  63  CounterTop      0.474          0.946          -1.625         0              0              0
  64  StoveBurner     1.691          0.923          0.064          0              0              0
  65  Cabinet         -2.446         1.948          1.687          0              0              0
  66  Cabinet         -2.446         1.948          1.640          0              0              0
  67  Sink            1.381          0.810          -1.271         0              225            0
  68  StoveKnob       1.878          1.093          0.150          287.989        90             0
  69  Cabinet         -2.145         0.402          -0.236         0              0              0
  70  Drawer          -2.276         0.792          0.437          0              0              0
  71  Drawer          -2.276         0.792          -0.027         0              0              0
  72  Cabinet         1.572          2.008          0.474          0              0              0
  73  Cabinet         1.572          2.008          -0.775         0              0              0
  74  Cabinet         -2.445         2.148          -1.275         0              0              0
  75  Cabinet         -2.446         2.148          -0.284         0              0              0
  76  Cabinet         -2.446         1.948          0.355          0              0              0
  77  Cabinet         -2.446         1.948          0.405          0              0              0
  78  Cabinet         -2.145         0.402          0.644          0              0              0
  79  Cabinet         -2.145         0.402          0.695          0              0              0
  80  Cabinet         -2.285         1.968          -1.325         0              180            0
  81  CounterTop      -1.485         0.946          1.319          0              0              0
  82  StoveBurner     1.411          0.923          0.064          0              0              0
  83  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  84  Drawer          -2.276         0.792          1.368          0              0              0
  85  Fridge          -2.475         0.0            -0.782         0              90             0
  86  LightSwitch     -0.929         1.350          -1.950         0              0              0
  87  Toaster         -2.564         0.900          1.876          0              90             0
  88  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  89  Window          1.508          1.534          -1.496         90             135            0
  90  Window          1.973          1.521          1.121          90             90             0
  91  SinkBasin       1.149          0.753          -1.380         0              225            0
  92  GarbageCan      1.646          -0.000         0.679          0              0              0
  93  Microwave       -2.580         0.900          2.440          0              90             0
  94  Stool           0.439          0.010          0.747          0              0              0
  95  Stool           -2.303         0.010          1.839          0              0              0
  96  Faucet          1.235          1.138          -1.473         0              225            0
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: Turn to your left and go to the coffee maker across the room.  | STEP 2: Pick up the coffee cup in front of the coffee maker.  | STEP 3: Turn to your right and go to the freezer.  | STEP 4: Place the coffee cup in the bottom of the freezer for a moment, wait for it to chill, then remove the coffee cup from the freezer. | STEP 5: Step back from the refrigerator and move over to your right so that you are in front of the bottom cabinet to the right of the refrigerator.  | STEP 6: Place the coffee cup in the bottom cabinet, to the right of the refrigerator.  | END