Task: place a cooled cup under the spout of the coffee maker

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.5            0.930          0.0            0              90             0
   1  Ladle           0.622          0.947          0.727          0              0              0              98
   2  Ladle           -1.008         0.937          0.176          0              0              0              67
   3  DishSponge      -0.868         0.706          -0.098         0              0              0              74
   4  DishSponge      0.422          0.319          -1.556         0              0              0              73
   5  ButterKnife     -0.868         0.706          0.751          0              0              0              71
   6  ButterKnife     0.101          0.900          -1.731         0              180            0              88
   7  Kettle          3.198          0.176          -0.404         0              0              0              78
   8  Pot             3.181          1.464          -1.648         0              90             0              65
   9  Spatula         1.360          0.923          0.322          0              0              0              98
  10  Spoon           3.200          0.901          -0.698         0              0              0              66
  11  Spoon           0.063          0.901          -1.286         0              45             0              88
  12  CellPhone       0.667          0.905          0.416          0              36.810         0              98
  13  CellPhone       -0.950         0.128          -0.098         0              0              0              87
  14  Apple           -1.018         1.071          1.470          0              90             0              115
  15  Apple           1.008          0.959          -1.475         0              0              0              113
  16  Lettuce         -0.725         0.965          -0.803         0              45             0              67
  17  SaltShaker      0.967          0.904          0.747          0              0              0              98
  18  SaltShaker      -0.052         0.702          -1.281         0              45             0              77
  19  PepperShaker    -0.683         0.130          -0.706         0              45             0              87
  20  SoapBottle      -0.958         0.909          -0.874         0              45             0              67
  21  Tomato          0.110          0.937          -1.332         0              45             0              88
  22  Tomato          0.022          0.937          -1.660         0              0              0              88
  23  Egg             -1.119         1.050          1.364          0              90             0              115
  24  Egg             -1.018         1.050          1.311          0              90             0              115
  25  Cup             3.173          1.462          -1.186         0              0              0              81
  26  Knife           0.602          0.933          0.098          0              36.810         0              98
  27  Knife           -0.991         0.352          0.576          0              90             0              68
  28  Plate           -1.008         0.913          0.399          0              0              0              67
  29  Glassbottle     -1.080         0.901          0.846          0              0              0              67
  30  SoapBottle      3.197          0.186          0.841          0              0              0              76
  31  Potato          0.773          0.749          -1.407         0              0              0              113
  32  Fork            3.069          0.747          -0.034         0              90             0              112
  33  Ladle           1.351          1.711          -1.410         0              270            0              58
  34  Pot             0.423          0.900          0.869          0              0              0              98
  35  Kettle          -0.419         0.902          -1.269         0              315            0              69
  36  Spatula         0.839          0.925          0.530          0              36.810         0              98
  37  Knife           0.100          0.925          -1.528         0              45             0              88
  38  Lettuce         1.164          1.139          -1.503         0              0              0              113
  39  Cup             -1.043         0.898          -0.691         0              45             0              67
  40  SaltShaker      0.494          0.896          -1.373         0              0              0              88
  41  Egg             -0.655         0.952          -0.571         0              45             0              67
  42  PepperShaker    0.376          0.509          -1.434         0              0              0              53
  43  ButterKnife     3.200          0.900          -0.698         0              0              0              66
  44  Apple           1.086          0.785          -1.433         0              0              0              113
  45  Pan             0.341          0.873          -1.649         0              167.065        0              88
  46  Bread           1.534          0.972          0.486          0              289.287        0              98
  47  CellPhone       -0.827         0.323          0.751          0              0              0              68
  48  DishSponge      -0.624         0.899          -0.702         0              45             0              67
  49  Tomato          3.335          0.937          -0.279         0              0              0              66
  50  Spoon           -0.827         0.707          0.489          0              0              0              71
  51  Bowl            3.070          0.744          0.231          0              90             0              112
  52  Mug             3.049          0.966          0.591          0              270            0              110
  53  Drawer          0.376          0.572          -1.509         0              0              0
  54  Drawer          3.020          0.769          -0.783         0              180            0
  55  Drawer          -0.860         0.577          1.429          0              0              0
  56  StoveBurner     -0.600         0.897          -1.090         0              135            0
  57  Drawer          0.376          0.191          -1.509         0              0              0
  58  Cabinet         1.402          1.874          -1.259         0              0              0
  59  Cabinet         -0.202         1.963          -1.328         0              0              0
  60  Drawer          -0.860         0.765          1.429          0              0              0
  61  Drawer          -0.677         0.765          -0.700         0              0              0
  62  StoveBurner     -0.420         0.897          -0.920         0              135            0
  63  Drawer          3.020          0.769          -0.407         0              180            0
  64  Drawer          -0.860         0.577          0.663          0              0              0
  65  Cabinet         2.819          1.768          -1.850         0              0              0
  66  CounterTop      3.111          0.936          0.019          0              0              0
  67  CounterTop      -1.007         0.935          -0.039         0              0              0
  68  Drawer          -0.860         0.385          0.663          0              0              0
  69  StoveBurner     -0.419         0.897          -1.269         0              315            0
  70  Drawer          -0.047         0.573          -1.324         0              0              0
  71  Drawer          -0.860         0.765          0.663          0              0              0
  72  Drawer          -0.860         0.385          -0.100         0              0              0
  73  Drawer          0.376          0.380          -1.509         0              0              0
  74  Drawer          -0.860         0.765          -0.100         0              0              0
  75  Drawer          0.376          0.765          -1.509         0              0              0
  76  Cabinet         2.849          0.419          0.409          0              0              0
  77  Drawer          -0.047         0.765          -1.324         0              0              0
  78  Cabinet         2.849          0.419          -0.610         0              0              0
  79  Cabinet         2.849          0.419          -0.959         0              0              0
  80  Cabinet         3.069          1.666          -0.709         0              0              0
  81  Cabinet         2.819          1.768          -1.047         0              0              0
  82  Cabinet         0.620          1.874          -1.259         0              0              0
  83  Cabinet         0.140          1.666          -1.559         0              0              0
  84  Cabinet         -0.189         1.666          -1.340         0              0              0
  85  Cabinet         -0.709         1.963          -0.819         0              0              0
  86  Cabinet         -0.920         1.665          -0.620         0              0              0
  87  Drawer          -0.860         0.190          -0.100         0              0              0
  88  CounterTop      0.133          0.935          -1.457         0              0              0
  89  Drawer          3.020          0.769          0.695          0              180            0
  90  Drawer          -0.677         0.577          -0.700         0              0              0
  91  Drawer          -0.860         0.190          1.429          0              0              0
  92  Drawer          -0.047         0.192          -1.324         0              0              0
  93  Drawer          -0.677         0.193          -0.700         0              0              0
  94  Drawer          -0.860         0.577          -0.100         0              0              0
  95  Sink            3.078          0.887          0.086          0              0              0
  96  StoveBurner     -0.239         0.897          -1.089         0              315            0
  97  Drawer          -0.860         0.190          0.663          0              0              0
  98  CounterTop      1.210          0.937          0.463          0              0              0
  99  Drawer          -0.047         0.381          -1.324         0              0              0
 100  Drawer          -0.677         0.387          -0.700         0              0              0
 101  Mirror          -1.295         1.630          0.045          0              0              0
 102  Drawer          -0.860         0.385          1.429          0              0              0
 103  HousePlant      3.196          0.891          -0.368         0              0              0
 104  StoveKnob       -0.090         0.790          -1.009         270            45             0
 105  StoveKnob       -0.280         0.790          -0.819         270            45             0
 106  StoveKnob       -0.180         0.790          -0.920         270            45             0
 107  StoveKnob       -0.370         0.790          -0.720         270            45             0
 108  GarbageCan      3.137          0.025          1.545          0              225            0
 109  Window          3.703          1.675          0.046          90             90             0
 110  CoffeeMachine   3.214          0.890          0.697          0              270            0
 111  LightSwitch     2.592          1.309          -1.880         0              0              0
 112  SinkBasin       3.069          0.736          0.108          0              90             0
 113  Fridge          1.008          0.029          -1.467         0              0              0
 114  Toaster         -1.035         0.873          -0.396         0              90             0
 115  Microwave       -1.034         0.874          1.428          0              90             0
 116  Faucet          3.305          0.886          0.094          270            180            0
 117  NorthWall
 118  EastWall
 119  SouthWall
 120  WestWall

Plan:
STEP 1: turn left and walk to the coffee maker on your right | STEP 2: grab the coffee cup out from the spout of the coffee maker | STEP 3: turn around and walk over to the fridge on the left side of the room | STEP 4: place the cup inside of the fridge and let it cool down, then take it back out | STEP 5: turn left and walk to the coffee maker on the kitchen counter on the left side of the room | STEP 6: place the coffee cup under the spout of the coffee maker | END