Task: place a cooled cup down on the black table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.869          -3.0           0              90             0
   1  Potato          -2.002         0.832          -3.771         0              0              0              65
   2  DishSponge      0.621          0.015          0.011          0              0              0              53
   3  DishSponge      0.661          0.664          0.448          0              0              0              48
   4  ButterKnife     0.769          0.759          -0.124         0              0              0              42
   5  ButterKnife     0.721          0.665          0.630          0              0              0              48
   6  Spatula         -1.803         0.716          -1.199         0              0              0              79
   7  Spatula         -0.051         0.915          1.101          0              0              0              69
   8  Spoon           0.769          0.761          -0.124         0              0              0              42
   9  Fork            1.024          0.884          -0.039         0              90             0              43
  10  Pot             -2.097         0.930          0.785          0              0              0              45
  11  Knife           0.623          0.782          -0.252         0              90             0              42
  12  Tomato          -0.252         0.949          0.758          0              270            0              69
  13  Tomato          0.785          0.713          -1.802         0              270            0              63
  14  Bowl            -0.051         0.899          0.929          0              270            0              69
  15  PepperShaker    0.994          1.460          -0.084         0              0              0              54
  16  PepperShaker    0.732          0.012          -0.571         0              0              0              46
  17  SaltShaker      -1.719         0.698          -1.524         0              0              0              79
  18  SaltShaker      0.994          1.460          -0.331         0              0              0              54
  19  Apple           0.841          0.826          -0.790         0              270            0              66
  20  Apple           0.746          0.519          -1.802         0              270            0              63
  21  Pot             -1.552         0.930          0.785          0              0              0              47
  22  Plate           -2.023         0.692          -1.447         0              0              0              79
  23  Fork            0.757          0.773          -0.680         0              270            0              66
  24  SoapBottle      0.655          0.882          0.098          0              0              0              43
  25  Apple           -1.187         0.105          -3.647         0              270            0              58
  26  Pan             0.740          -0.007         -0.596         0              0              0              46
  27  Egg             0.950          0.920          -0.108         0              0              0              43
  28  Spatula         0.149          0.915          1.272          0              270            0              69
  29  Potato          0.672          0.805          -0.735         0              270            0              66
  30  Cup             0.841          0.771          -0.570         0              270            0              66
  31  SaltShaker      1.040          0.879          -0.460         0              0              0              43
  32  PepperShaker    0.566          0.012          -0.250         0              0              0              53
  33  ButterKnife     0.757          0.772          -0.845         0              0              0              66
  34  DishSponge      0.720          0.760          -0.188         0              0              0              42
  35  Bread           -0.873         0.931          0.978          0              24.231         0              69
  36  Lettuce         -1.056         0.987          1.187          0              270            0              69
  37  Tomato          -1.334         0.100          -3.611         0              270            0              58
  38  Spoon           0.961          0.665          0.448          0              90             0              48
  39  Knife           1.070          0.906          -0.611         0              270            0              43
  40  Mug             0.949          1.458          0.534          0              0              0              55
  41  Bowl            0.841          0.663          0.387          0              0              0              48
  42  Drawer          0.706          0.766          -0.125         0              0              0
  43  CounterTop      0.792          0.919          -0.108         0              0              0
  44  Mirror          1.093          1.602          -0.643         0              0              0
  45  StoveBurner     -2.096         0.890          0.785          0              0              0
  46  Cabinet         0.507          0.345          -0.426         0              0              0
  47  StoveBurner     -1.552         0.890          0.785          0              0              0
  48  SideTable       0.770          -0.030         0.443          0              0              0
  49  Sink            0.753          0.882          -0.680         0              0              0
  50  StoveBurner     -2.096         0.890          1.049          0              0              0
  51  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  52  StoveBurner     -1.554         0.890          1.049          0              0              0
  53  Cabinet         0.507          0.345          0.156          0              0              0
  54  Cabinet         0.717          1.822          -0.398         0              0              0
  55  Cabinet         0.717          1.822          0.669          0              0              0
  56  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  57  Toaster         -0.522         0.886          1.081          0              180            0
  58  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  59  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  60  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  61  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  62  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  63  Fridge          0.680          -0.031         -1.957         0              0              0
  64  Window          -2.424         1.639          -2.453         90             270            0
  65  Microwave       -1.994         0.690          -3.651         0              0              0
  66  SinkBasin       0.757          0.762          -0.688         0              270            0
  67  LightSwitch     1.102          1.368          -3.737         0              270            0
  68  Shelf           -0.350         0.124          0.857          0              0              0
  69  DiningTable     -0.350         -0.025         0.857          0              0              0
  70  DiningTable     -1.909         -0.032         -3.507         0              0              0
  71  Blinds          -2.343         2.151          -2.437         0              270            0
  72  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  73  AluminumFoil    0.751          0.225          0.287          0              0              0
  74  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  75  Shelf           0.771          0.226          0.445          0              0              0
  76  Shelf           0.771          0.456          0.446          0              0              0
  77  Faucet          1.025          0.873          -0.678         270            180            0
  78  Shelf           -0.350         0.497          0.857          0              0              0
  79  DiningTable     -1.929         -0.035         -1.398         0              90             0
  80  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: turn around and walk forwards a bit, then hang a right and walk to the end of the room, then turn right to face the kitchen cabinets above | STEP 2: grab a cup out of the kitchen cabinet above | STEP 3: turn around and walk forwards a bit, and then down the room until you reach the fridge on the left | STEP 4: place the cup inside of the fridge, let it cool, then take it back out again | STEP 5: move to the end of the room on the left again, and turn right to face the black table at the end of the kitchen counters | STEP 6: place the cup down on the black table there | END