Task: Putting a cold cup in a 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          2.0            0              180            0
   1  Pan             -0.937         0.565          0.119          0              90             0              73
   2  Potato          1.523          0.102          2.912          0              0              0              79
   3  Potato          -0.946         0.232          -0.044         0              90             0              73
   4  DishSponge      1.729          0.937          1.887          0              0              0              46
   5  ButterKnife     -0.960         0.937          0.765          0              0              0              66
   6  Spoon           -0.960         0.939          0.843          0              0              0              66
   7  Spoon           -0.792         0.747          2.517          0              90             0              42
   8  Pot             -1.109         0.930          1.865          0              0              0              65
   9  Egg             1.684          1.621          1.703          0              270            0              80
  10  Plate           1.385          1.076          0.376          0              0              0              47
  11  Plate           1.380          1.751          -0.035         0              0              0              49
  12  SoapBottle      1.362          0.937          2.597          0              0              0              46
  13  SoapBottle      1.669          0.937          0.873          0              0              0              46
  14  Bowl            -1.018         1.495          0.272          0              90             0              73
  15  Bowl            -0.971         1.495          0.042          0              90             0              73
  16  SaltShaker      -1.081         1.497          2.553          0              180            0              63
  17  PepperShaker    -0.792         0.742          2.381          0              180            0              42
  18  Mug             -0.844         0.077          2.241          0              0              0              62
  19  Mug             1.422          0.838          1.369          0              0              0              83
  20  Lettuce         1.460          1.014          1.678          5.121          59.325         356.525        68
  21  SoapBottle      1.630          1.500          2.585          0              0              0              60
  22  Bread           -0.923         0.990          2.265          0              302.470        0              41
  23  Fork            1.669          0.938          2.118          0              270            0              46
  24  Tomato          -0.924         1.380          0.348          0              90             0              73
  25  Bowl            1.418          0.097          0.171          0              0              0              51
  26  Pot             -1.109         0.930          1.470          0              0              0              43
  27  Spatula         -0.710         0.952          1.154          0              0              0              66
  28  Knife           -0.861         0.768          2.381          0              270            0              42
  29  SaltShaker      1.414          0.743          1.052          0              0              0              71
  30  Apple           -0.988         0.864          0.195          0              90             0              73
  31  PepperShaker    -1.126         0.934          0.998          0              0              0              66
  32  ButterKnife     -0.960         0.937          0.921          0              0              0              66
  33  Potato          -1.209         0.970          0.843          0              0              0              66
  34  Plate           -1.078         1.506          0.887          0              0              0              52
  35  DishSponge      -1.142         1.951          1.411          0              0              0              57
  36  Egg             1.597          0.979          1.840          0              180            0              68
  37  Cup             -0.960         0.936          0.687          0              0              0              66
  38  Pan             1.378          1.737          0.392          0              270            0              49
  39  Spoon           -0.792         0.747          2.245          0              270            0              42
  40  Mug             -0.829         0.079          0.985          0              0              0              53
  41  CounterTop      -0.973         0.973          2.386          0              0              0
  42  Drawer          -0.783         0.774          2.381          0              180            0
  43  StoveBurner     -1.108         0.922          1.470          0              0              0
  44  Drawer          1.370          0.774          2.391          0              0              0
  45  Stool           -0.748         0.008          3.116          0              0              0
  46  CounterTop      1.504          0.973          2.309          0              0              0
  47  Cabinet         1.219          1.388          0.591          0              0              0
  48  Cabinet         1.500          2.113          1.164          0              0              0
  49  Cabinet         1.219          2.010          0.591          0              0              0
  50  Cabinet         1.219          0.388          2.105          0              0              0
  51  Cabinet         1.219          0.553          0.591          0              0              0
  52  Cabinet         -0.913         2.113          1.164          0              0              0
  53  Cabinet         -0.633         0.388          0.627          0              0              0
  54  Cabinet         -0.913         2.050          -0.329         0              0              0
  55  Cabinet         -0.913         2.113          0.583          0              0              0
  56  Cabinet         -0.913         2.113          2.082          0              0              0
  57  Cabinet         -0.913         2.113          1.207          0              0              0
  58  Cabinet         1.500          2.113          2.082          0              0              0
  59  Cabinet         1.500          2.113          1.207          0              0              0
  60  Cabinet         1.500          1.810          2.691          0              0              0
  61  Cabinet         1.500          1.810          2.101          0              0              0
  62  Cabinet         -0.633         0.388          2.105          0              0              0
  63  Cabinet         -0.911         1.810          2.700          0              180            0
  64  Drawer          -0.783         0.774          0.915          0              180            0
  65  StoveBurner     -1.108         0.922          1.865          0              0              0
  66  CounterTop      -0.972         0.973          0.921          0              0              0
  67  Cabinet         1.219          0.388          0.631          0              0              0
  68  Sink            1.544          0.869          1.639          0              180            0
  69  StoveBurner     -0.832         0.922          1.865          0              0              0
  70  StoveBurner     -0.831         0.922          1.470          0              0              0
  71  Drawer          1.370          0.774          0.916          0              0              0
  72  Cabinet         -0.911         1.810          2.111          0              180            0
  73  Fridge          -1.001         0.0            0.119          0              0              0
  74  StoveKnob       -0.648         0.926          1.923          0              270            0
  75  StoveKnob       -0.648         0.926          1.363          0              270            0
  76  StoveKnob       -0.648         0.926          1.513          0              270            0
  77  StoveKnob       -0.648         0.926          1.763          0              270            0
  78  Toaster         -1.002         0.926          2.561          0              90             0
  79  GarbageCan      1.451          -0.029         2.912          0              0              0
  80  Microwave       1.632          1.480          1.645          0              270            0
  81  Window          0.224          1.601          3.509          90             0              0
  82  CoffeeMachine   1.692          0.926          2.453          0              270            0
  83  SinkBasin       1.461          0.833          1.369          0              180            0
  84  LightSwitch     0.451          1.412          -1.674         0              0              0
  85  Faucet          1.707          0.925          1.363          0              270            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn right and go to the counter to the left of the oven | STEP 2: Grab the cup off of the counter | STEP 3: Turn left and go to the fridge | STEP 4: Cool the cup in the fridge and then take it out | STEP 5: Turn around and go to the large cabinets | STEP 6: Put the cup in the bottom cabinet | END