Task: place a cooled cup under the coffee maker spout

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          3.0            0              270            0
   1  Pan             1.653          0.911          -0.131         0              180            0              67
   2  CellPhone       1.658          0.760          1.147          0              270            0              73
   3  Ladle           1.713          0.514          0.047          0              0              0              63
   4  Kettle          0.107          0.926          0.970          0              0              0              75
   5  Fork            1.117          0.912          -1.513         0              0              0              67
   6  Fork            -0.261         0.761          -1.380         0              270            0              91
   7  Spoon           0.083          0.761          -1.490         0              0              0              91
   8  Spoon           -0.088         0.761          -1.380         0              0              0              91
   9  Spatula         1.812          0.476          1.088          0              90             0              65
  10  Egg             -1.592         1.526          -0.081         0              90             0              90
  11  Cup             -0.320         0.923          0.041          0              0              0              75
  12  SoapBottle      2.001          1.662          -1.280         0              270            0              55
  13  SoapBottle      0.107          0.929          0.738          0              0              0              75
  14  Bowl            -0.106         0.924          -0.190         0              0              0              75
  15  Bowl            -0.213         0.924          0.970          0              0              0              75
  16  PepperShaker    -0.106         0.921          1.202          0              0              0              75
  17  Bread           -0.320         1.006          0.273          0              0              0              75
  18  Lettuce         -0.106         1.002          0.738          0              0              0              75
  19  Lettuce         -0.175         0.837          -1.490         0              0              0              91
  20  Mug             0.170          0.755          -1.546         0              0              0              91
  21  Apple           -1.663         0.616          0.295          0              90             0              90
  22  SoapBottle      1.802          0.915          -1.513         0              0              0              67
  23  Cup             0.214          0.923          0.506          0              0              0              75
  24  Pot             1.975          0.938          0.819          0              180            0              77
  25  Fork            -1.668         0.912          -1.318         0              0              0              67
  26  Ladle           1.813          0.955          1.408          0              0              0              67
  27  Kettle          1.765          0.938          0.384          0              180            0              70
  28  Egg             0.661          0.968          -1.221         0              0              0              67
  29  Plate           -1.727         0.910          -1.013         0              0              0              67
  30  Pan             -1.286         0.9            -1.348         0              79.769         0              67
  31  Lettuce         -0.844         0.988          -1.610         0              0              0              67
  32  Spatula         1.802          0.926          -1.221         0              0              0              67
  33  Apple           1.956          1.059          -0.599         0              270            0              88
  34  Knife           1.769          0.142          0.818          0              0              0              59
  35  SaltShaker      -1.059         0.109          -1.233         0              0              0              79
  36  PepperShaker    -1.880         1.658          -1.056         0              90             0              54
  37  CellPhone       1.764          0.347          -0.020         0              0              0              63
  38  ButterKnife     1.662          0.225          1.219          0              0              0              76
  39  Bread           0.214          1.006          0.273          0              0              0              75
  40  Tomato          0.000          0.980          0.273          0              0              0              75
  41  Potato          0.661          0.935          -1.318         0              0              0              67
  42  DishSponge      -0.867         1.679          -1.614         0              0              0              69
  43  Spoon           1.810          0.696          0.543          0              0              0              68
  44  Mug             2.030          0.906          -1.610         0              0              0              67
  45  Bowl            -0.249         0.113          -1.534         0              0              0              46
  46  Cabinet         -0.495         0.474          -1.149         0              0              0
  47  Window          -0.010         1.582          -1.821         0              0              0
  48  Drawer          0.805          0.475          -1.159         0              0              0
  49  StoveBurner     1.764          0.902          0.601          0              270            0
  50  Drawer          1.5            0.196          -0.019         0              0              0
  51  Drawer          1.5            0.629          -0.018         0              0              0
  52  Drawer          1.5            0.602          -0.019         0              270            0
  53  StoveBurner     1.975          0.902          0.384          0              270            0
  54  Cabinet         -1.703         2.022          -1.453         0              90             0
  55  Cabinet         1.789          2.019          -0.819         0              270            0
  56  Cabinet         0.494          0.474          -1.149         0              0              0
  57  Cabinet         0.409          0.475          0.444          0              0              0
  58  Drawer          -0.696         0.475          -1.159         0              0              0
  59  Drawer          1.5            0.140          0.599          0              270            0
  60  Cabinet         1.389          0.474          -1.149         0              0              0
  61  Drawer          1.5            0.305          0.600          0              0              0
  62  StoveBurner     1.975          0.902          0.601          0              270            0
  63  Drawer          1.5            0.429          -0.019         0              0              0
  64  StoveBurner     1.764          0.902          0.819          0              270            0
  65  Drawer          1.5            0.519          1.220          0              0              0
  66  Cabinet         1.705          2.019          -1.449         0              0              0
  67  CounterTop      0.002          0.947          -1.513         0              0              0
  68  Drawer          1.5            0.629          0.605          0              0              0
  69  Cabinet         -0.627         2.019          -1.449         0              0              0
  70  StoveBurner     1.764          0.902          0.384          0              270            0
  71  Drawer          1.5            0.538          0.600          0              0              0
  72  Sink            0.0            0.893          -1.434         0              0              0
  73  Drawer          1.5            0.782          1.220          0              270            0
  74  Window          2.217          1.565          -0.384         0              0              0
  75  CounterTop      -0.014         0.961          0.505          0              0              0
  76  Drawer          1.5            0.200          1.220          0              0              0
  77  StoveBurner     1.975          0.902          0.819          0              270            0
  78  Window          -3.240         1.616          2.693          0              270            0
  79  Cabinet         -1.389         0.474          -1.149         0              0              0
  80  LightSwitch     -0.153         1.291          3.700          0              180            0
  81  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  82  StoveKnob       1.602          0.917          0.570          0              270            180
  83  StoveKnob       1.602          0.917          0.625          0              270            180
  84  StoveKnob       1.602          0.917          0.739          0              270            180
  85  StoveKnob       1.602          0.917          0.680          0              270            180
  86  StoveKnob       1.602          0.917          0.462          0              270            180
  87  StoveKnob       1.602          0.917          0.517          0              270            180
  88  Microwave       1.932          0.899          -0.766         0              270            0
  89  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  90  Fridge          -1.764         0.0            0.014          0              90             0
  91  SinkBasin       -0.014         0.736          -1.435         0              0              0
  92  Toaster         1.977          0.900          -0.336         0              270            0
  93  Faucet          -0.020         1.137          -1.605         0              270            0
  94  Chair           -9.354         0.000          1.242          0              180            0
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: turn around and walk to the end of the room, then turn right and walk to the other end of the room, then another right until you have reached the sink on the left, turn left to face the sink | STEP 2: grab the cup out of the left side of the sink | STEP 3: turn right and walk to the end of the room, then hang a right and walk until you've reached the fridge on your left, then turn to face the fridge on your left | STEP 4: place the cup inside of the fridge to cool, close the door, then open the door and take the cup back out after it has cooled | STEP 5: turn left and walk to the end of the room, then turn left and walk until you reach the coffee maker on the kitchen counter to your right, turn right to face the coffee maker once you're there | STEP 6: place the cup under the pouring spout of the coffee maker | END