Task: Chill a glass and put it 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           0.0            0.900          1.0            0              90             0
   1  Pan             -1.109         0.930          1.470          0              0              0              42
   2  Potato          -1.012         0.847          -0.110         0              90             0              72
   3  Potato          -0.937         0.598          -0.110         0              90             0              72
   4  DishSponge      1.315          0.944          1.631          0              180            0              67
   5  ButterKnife     -1.126         0.937          0.998          0              0              0              65
   6  Fork            -0.827         0.747          2.449          0              270            0              41
   7  Spatula         1.379          0.761          1.052          0              270            0              70
   8  Spatula         -1.211         0.952          2.234          0              90             0              40
   9  Egg             1.357          0.105          2.977          0              0              0              78
  10  Cup             1.624          1.947          1.504          0              0              0              58
  11  Cup             1.388          0.842          1.341          0              180            0              82
  12  Plate           -0.791         0.088          0.845          0              0              0              52
  13  Knife           1.439          0.959          0.940          0              0              0              45
  14  Tomato          -0.971         1.380          0.042          0              90             0              72
  15  Bowl            -0.937         0.562          0.119          0              90             0              72
  16  Bowl            1.630          1.497          2.248          0              0              0              60
  17  Mug             1.767          0.932          1.458          0              0              0              45
  18  Apple           -0.924         1.548          0.348          0              90             0              72
  19  Lettuce         -1.043         1.028          1.076          0              0              0              65
  20  SoapBottle      -1.126         0.937          0.765          0              0              0              65
  21  Bread           -0.923         0.990          2.265          0              302.470        0              40
  22  Fork            1.352          0.738          2.491          0              291.525        0              43
  23  Tomato          1.423          0.131          2.879          0              0              0              78
  24  Bowl            1.456          0.941          1.756          0              180            0              67
  25  Pot             -0.818         0.927          0.816          0              270            0              65
  26  Spatula         -0.876         0.952          1.154          0              0              0              65
  27  Knife           -0.792         0.768          2.517          0              270            0              41
  28  SaltShaker      -1.043         0.934          0.843          0              0              0              65
  29  Apple           -0.971         1.548          0.042          0              90             0              72
  30  PepperShaker    1.662          1.944          1.783          0              0              0              57
  31  ButterKnife     -0.960         0.937          0.921          0              0              0              65
  32  Potato          -1.065         1.351          0.348          0              90             0              72
  33  Plate           1.380          1.751          0.066          0              0              0              48
  34  DishSponge      -0.876         0.937          1.076          0              0              0              65
  35  Egg             1.597          0.979          1.714          0              180            0              67
  36  Cup             -1.001         1.499          2.524          0              180            0              62
  37  Pan             -1.109         0.930          1.865          0              0              0              64
  38  Spoon           -0.689         0.747          2.517          0              270            0              41
  39  Mug             -0.724         0.077          2.528          0              0              0              61
  40  CounterTop      -0.973         0.973          2.386          0              0              0
  41  Drawer          -0.783         0.774          2.381          0              180            0
  42  StoveBurner     -1.108         0.922          1.470          0              0              0
  43  Drawer          1.370          0.774          2.391          0              0              0
  44  Stool           -0.748         0.008          3.116          0              0              0
  45  CounterTop      1.504          0.973          2.309          0              0              0
  46  Cabinet         1.219          1.388          0.591          0              0              0
  47  Cabinet         1.500          2.113          1.164          0              0              0
  48  Cabinet         1.219          2.010          0.591          0              0              0
  49  Cabinet         1.219          0.388          2.105          0              0              0
  50  Cabinet         1.219          0.553          0.591          0              0              0
  51  Cabinet         -0.913         2.113          1.164          0              0              0
  52  Cabinet         -0.633         0.388          0.627          0              0              0
  53  Cabinet         -0.913         2.050          -0.329         0              0              0
  54  Cabinet         -0.913         2.113          0.583          0              0              0
  55  Cabinet         -0.913         2.113          2.082          0              0              0
  56  Cabinet         -0.913         2.113          1.207          0              0              0
  57  Cabinet         1.500          2.113          2.082          0              0              0
  58  Cabinet         1.500          2.113          1.207          0              0              0
  59  Cabinet         1.500          1.810          2.691          0              0              0
  60  Cabinet         1.500          1.810          2.101          0              0              0
  61  Cabinet         -0.633         0.388          2.105          0              0              0
  62  Cabinet         -0.911         1.810          2.700          0              180            0
  63  Drawer          -0.783         0.774          0.915          0              180            0
  64  StoveBurner     -1.108         0.922          1.865          0              0              0
  65  CounterTop      -0.972         0.973          0.921          0              0              0
  66  Cabinet         1.219          0.388          0.631          0              0              0
  67  Sink            1.544          0.869          1.639          0              180            0
  68  StoveBurner     -0.832         0.922          1.865          0              0              0
  69  StoveBurner     -0.831         0.922          1.470          0              0              0
  70  Drawer          1.370          0.774          0.916          0              0              0
  71  Cabinet         -0.911         1.810          2.111          0              180            0
  72  Fridge          -1.001         0.0            0.119          0              0              0
  73  StoveKnob       -0.648         0.926          1.923          0              270            0
  74  StoveKnob       -0.648         0.926          1.363          0              270            0
  75  StoveKnob       -0.648         0.926          1.513          0              270            0
  76  StoveKnob       -0.648         0.926          1.763          0              270            0
  77  Toaster         -1.002         0.926          2.561          0              90             0
  78  GarbageCan      1.451          -0.029         2.912          0              0              0
  79  Microwave       1.632          1.480          1.645          0              270            0
  80  Window          0.224          1.601          3.509          90             0              0
  81  CoffeeMachine   1.692          0.926          2.453          0              270            0
  82  SinkBasin       1.461          0.833          1.369          0              180            0
  83  LightSwitch     0.451          1.412          -1.674         0              0              0
  84  Faucet          1.707          0.925          1.363          0              270            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Walk over to the sink | STEP 2: Grab the glass | STEP 3: Walk over to the fridge | STEP 4: Chill the glass in the fridge | STEP 5: Walk over to the rightmost cabinet | STEP 6: Put the glass in the cabinet | END