Task: put a cup on the refrigerator on the coffee machine

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          1.5            0              90             0
   1  Potato          0.931          0.067          2.889          0              0              0              79
   2  ButterKnife     0.725          0.823          2.631          0              0              0              50
   3  Pot             0.913          0.850          1.768          0              0              0              66
   4  Spatula         0.950          0.838          2.371          0              180            0              50
   5  Spatula         1.099          0.838          0.895          0              90             0              45
   6  Spoon           -1.309         0.698          3.816          0              270            0              80
   7  Spoon           0.771          0.693          2.235          0              0              0              39
   8  Fork            0.771          0.691          0.944          0              90             0              56
   9  Cup             -2.117         0.127          3.711          0              0              0              71
  10  Knife           1.024          0.846          2.545          0              0              0              50
  11  Tomato          -1.317         0.969          1.143          0              90             0              86
  12  Tomato          -2.577         1.064          2.221          0              90             0              77
  13  Bowl            -2.501         1.396          3.858          0              0              0              43
  14  SaltShaker      -1.317         0.896          1.555          0              90             0              86
  15  SaltShaker      0.650          0.819          0.984          0              0              0              45
  16  Lettuce         -2.694         1.266          2.165          0              90             0              77
  17  Plate           0.860          0.812          0.975          0              0              0              45
  18  Fork            0.800          0.823          2.458          0              0              0              50
  19  Bread           -2.577         0.820          2.333          0              90             0              77
  20  Spatula         1.099          0.838          2.458          0              270            0              50
  21  PaperTowelRoll  -1.317         1.004          1.040          0              270            0              86
  22  Potato          -0.657         0.943          1.555          0              90             0              86
  23  SoapBottle      -1.185         0.900          1.555          0              90             0              86
  24  Egg             -2.403         1.031          2.446          0              90             0              77
  25  Cup             -0.524         0.900          1.452          0              90             0              86
  26  Pot             0.913          0.850          1.375          0              0              0              44
  27  SaltShaker      0.725          0.819          2.285          0              0              0              50
  28  Pan             -2.667         0.812          3.74           0              137.145        0              68
  29  PepperShaker    -2.473         0.123          3.258          0              0              0              69
  30  ButterKnife     -0.921         0.891          1.349          0              90             0              86
  31  Tomato          -0.896         0.962          1.544          46.127         354.450        343.558        86
  32  DishSponge      -0.657         0.900          1.246          0              90             0              86
  33  Lettuce         0.875          0.898          2.371          0              0              0              50
  34  Spoon           0.770          0.693          2.496          0              90             0              42
  35  Apple           -1.053         0.961          1.452          0              90             0              86
  36  Knife           -2.291         0.819          3.615          90             0              0              68
  37  Mug             -2.454         0.152          1.521          0              0              0              53
  38  Bowl            -0.524         0.898          1.246          0              90             0              86
  39  Drawer          0.729          0.703          2.199          0              0              0
  40  Cabinet         -1.962         1.926          3.733          0              0              0
  41  Cabinet         -2.377         2.014          1.058          0              0              0
  42  Drawer          0.729          0.703          2.532          0              0              0
  43  Cabinet         -2.622         1.925          3.733          0              0              0
  44  StoveBurner     0.913          0.843          1.375          0              0              0
  45  CounterTop      0.864          0.858          0.984          0              0              0
  46  Cabinet         -1.976         1.779          3.734          0              0              0
  47  Cabinet         0.580          0.385          0.819          0              0              0
  48  Cabinet         -2.379         1.408          1.677          0              0              0
  49  Cabinet         -0.419         1.703          3.736          0              0              0
  50  CounterTop      0.864          0.858          2.371          0              0              0
  51  Sink            -1.702         0.726          3.828          0              180            0
  52  Cabinet         0.580          0.385          2.694          0              0              0
  53  Cabinet         -2.379         0.637          1.677          0              0              0
  54  Cabinet         -0.419         0.674          3.736          0              0              0
  55  Cabinet         -2.377         2.014          2.558          0              0              0
  56  Drawer          0.729          0.703          0.980          0              0              0
  57  Drawer          -2.114         0.706          3.657          0              0              0
  58  Cabinet         -2.377         1.691          2.572          0              0              0
  59  Cabinet         -2.951         1.925          3.733          0              0              0
  60  Cabinet         0.580          0.385          2.360          0              0              0
  61  Cabinet         -2.426         0.435          3.421          0              0              0
  62  StoveBurner     0.642          0.843          1.375          0              0              0
  63  Cabinet         -2.377         1.927          1.686          0              0              0
  64  Cabinet         -2.377         2.013          3.177          0              0              0
  65  Cabinet         -1.136         0.385          3.516          0              0              0
  66  StoveBurner     0.913          0.843          1.768          0              0              0
  67  Cabinet         -1.974         0.385          3.516          0              0              0
  68  CounterTop      -2.081         0.858          3.799          0              0              0
  69  Cabinet         -2.426         0.435          3.174          0              0              0
  70  Cabinet         -2.377         2.014          1.693          0              0              0
  71  Cabinet         -1.986         0.385          3.511          0              0              0
  72  StoveBurner     0.642          0.843          1.768          0              0              0
  73  Cabinet         -1.098         1.926          3.729          0              0              0
  74  Microwave       -1.529         1.250          3.881          1.622          180            0
  75  CoffeeMachine   1.000          0.812          2.492          0              270            0
  76  LightSwitch     0.825          1.396          4.082          0              180            0
  77  Fridge          -2.642         0.0            2.134          0              180            0
  78  Window          -1.131         1.673          0.808          90             0              0
  79  GarbageCan      0.931          -0.000         2.918          0              0              0
  80  SinkBasin       -1.601         0.686          3.774          0              0              0
  81  StoveKnob       1.104          1.002          1.886          0              0              70.346
  82  StoveKnob       1.104          1.002          1.733          0              0              70.346
  83  StoveKnob       1.104          1.002          1.321          0              0              70.346
  84  StoveKnob       1.104          1.002          1.481          0              0              70.346
  85  Toaster         -2.247         0.812          3.862          0              180            0
  86  DiningTable     -0.917         -0.000         1.203          0              0              0
  87  Stool           -0.932         0.000          1.404          1.196          21.715         0
  88  Faucet          -1.842         0.809          3.984          0              180            0
  89  Faucet          -1.371         0.809          3.985          0              180            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: turn around to the left  | STEP 2: get a cup from the bottom cabinet by the refrigerator | STEP 3: turn around to the right towards the refrigerator  | STEP 4: open the refrigerator door put the cup inside of the refrigerator get it back out  | STEP 5: turn to the left towards the white table | STEP 6: place the cup on the coffee machine | END