Task: put goblet in kitchen cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.901          1.5            0              90             0
   1  Potato          -2.583         0.926          2.706          0              0              0              71
   2  DishSponge      -0.228         0.900          2.932          0              0              0              73
   3  DishSponge      -0.657         0.900          2.932          0              0              0              73
   4  Spoon           -1.770         0.663          0.464          0              0              0              53
   5  Fork            -2.215         0.662          0.409          0              0              0              58
   6  Egg             -2.785         0.968          3.302          0              0              0              57
   7  Cup             -0.400         0.900          2.329          0              0              0              73
   8  Cup             -0.403         1.018          0.203          0              0              0              69
   9  Plate           -2.246         1.777          0.205          0              0              0              46
  10  SoapBottle      -0.304         1.773          0.160          0              0              0              49
  11  SaltShaker      -1.248         1.769          0.160          0              0              0              47
  12  SaltShaker      -0.572         0.896          2.329          0              0              0              73
  13  PepperShaker    -0.326         0.658          0.573          0              0              0              39
  14  PepperShaker    -2.485         0.658          0.355          0              0              0              58
  15  Bread           -2.686         0.957          2.309          0              0              0              71
  16  Apple           -2.644         0.355          4.204          0              90             0              Floor|-00.05|
  17  Apple           -2.785         0.355          4.427          0              90             0              67
  18  Egg             -0.297         1.056          0.299          0              0              0              69
  19  Plate           -1.691         1.777          0.205          0              0              0              45
  20  Fork            -0.572         0.901          3.133          0              0              0              73
  21  Bread           -0.228         0.957          2.530          0              0              0              73
  22  Apple           -2.765         0.110          0.386          0              26.101         0              64
  23  Lettuce         -2.797         0.594          4.576          0              0              0              67
  24  Spatula         -0.921         0.810          0.447          0              270            0              68
  25  Knife           -1.986         0.688          0.355          0              90             0              53
  26  Potato          -0.138         1.049          0.235          0              0              0              69
  27  Tomato          -2.691         0.362          4.649          0              90             0              67
  28  Cup             -0.244         1.018          0.203          0              0              0              69
  29  SaltShaker      -0.228         0.896          3.334          0              0              0              73
  30  PepperShaker    -0.143         0.896          3.334          0              0              0              73
  31  ButterKnife     -0.400         0.900          2.731          0              0              0              73
  32  SoapBottle      -2.037         0.927          0.348          0              0              0              50
  33  Pan             -0.250         0.926          4.651          0              0              0              52
  34  DishSponge      -2.583         0.900          1.913          0              0              0              71
  35  Pot             -0.535         0.928          4.274          0              0              0              54
  36  Spoon           -0.400         0.901          2.530          0              0              0              73
  37  Mug             -2.778         1.001          3.714          0              90             0              70
  38  Bowl            -0.858         1.770          0.114          0              0              0              48
  39  Drawer          -0.325         0.696          0.413          0              0              0
  40  Cabinet         -0.595         0.490          0.648          0              0              0
  41  Cabinet         -0.555         0.490          0.646          0              0              0
  42  Cabinet         -1.591         0.490          0.646          0              0              0
  43  Cabinet         -1.554         0.490          0.646          0              0              0
  44  Cabinet         -2.550         0.490          0.646          0              0              0
  45  Cabinet         -1.514         2.046          0.392          0              0              0
  46  Cabinet         -2.474         2.046          0.392          0              0              0
  47  Cabinet         -1.478         2.046          0.392          0              0              0
  48  Cabinet         -0.518         2.046          0.392          0              0              0
  49  Cabinet         -0.479         2.046          0.392          0              0              0
  50  CounterTop      -1.366         0.952          0.349          0              0              0
  51  Sink            -1.108         0.926          0.340          0              0              0
  52  StoveBurner     -0.254         0.922          4.672          0              0              0
  53  Drawer          -1.824         0.696          0.413          0              0              0
  54  StoveBurner     -0.535         0.922          4.274          0              0              0
  55  StoveBurner     -0.254         0.922          4.274          0              0              0
  56  StoveBurner     -0.536         0.922          4.672          0              0              0
  57  CounterTop      -2.780         0.971          3.487          0              0              0
  58  Drawer          -2.323         0.696          0.413          0              0              0
  59  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  60  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  61  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  63  Toaster         -0.286         0.861          3.520          0              270            0
  64  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  65  LightSwitch     -0.064         1.447          1.996          0              270            0
  66  Window          -3.075         1.593          1.361          90             90             0
  67  Fridge          -2.802         0.0            4.427          0              0              0
  68  SinkBasin       -1.106         0.785          0.337          0              0              0
  69  Microwave       -0.358         0.917          0.224          0              0              0
  70  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  71  DiningTable     -2.733         -0.003         2.607          0              270            0
  72  Faucet          -1.077         0.920          0.028          270            270            0
  73  DiningTable     -0.488         -0.003         3.182          0              270            0
  74  NorthWall
  75  EastWall
  76  SouthWall
  77  WestWall

Plan:
STEP 1: walk to face right table end | STEP 2: pick up goblet from table | STEP 3: walk to face fridge | STEP 4: chill and remove goblet from fridge | STEP 5: walk to face cabinet above microwave | STEP 6: put goblet into left cabinet | END