Task: put a cold cup 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           -0.75          0.900          -1.25          0              0              0
   1  Pan             -1.109         0.930          1.865          0              0              0              63
   2  DishSponge      -0.710         0.937          1.076          0              0              0              64
   3  DishSponge      1.379          0.746          2.459          0              0              0              42
   4  Fork            -0.712         0.938          2.537          0              90             0              39
   5  Spoon           -0.861         0.747          2.449          0              270            0              40
   6  Spatula         -0.960         0.952          0.843          0              0              0              64
   7  Spatula         -0.960         0.952          1.154          0              180            0              64
   8  Egg             1.362          0.979          1.840          0              180            0              66
   9  Egg             1.357          0.105          2.847          0              0              0              77
  10  Knife           -0.896         0.768          1.050          0              270            0              62
  11  Tomato          1.362          0.999          1.074          0              0              0              44
  12  Tomato          -0.976         0.627          0.042          0              90             0              71
  13  SaltShaker      -0.723         0.743          1.050          0              180            0              62
  14  SaltShaker      1.516          0.934          1.074          0              0              0              44
  15  Lettuce         -1.043         1.028          1.076          0              0              0              64
  16  Mug             -0.988         0.810          0.348          0              90             0              71
  17  Apple           -1.065         1.368          0.272          0              90             0              71
  18  Lettuce         1.458          1.014          1.677          3.773          58.902         356.164        66
  19  SoapBottle      1.418          0.100          0.373          0              0              0              49
  20  Bread           -0.923         0.990          2.265          0              302.470        0              39
  21  Fork            -0.689         0.747          2.517          0              270            0              40
  22  Tomato          -1.211         0.999          2.159          0              0              0              39
  23  Bowl            -1.113         1.946          1.924          0              0              0              54
  24  Pot             -0.818         0.927          0.816          0              270            0              64
  25  Spatula         -0.792         0.761          2.517          0              270            0              40
  26  Knife           -0.723         0.768          0.779          0              90             0              62
  27  SaltShaker      -1.209         0.934          0.687          0              0              0              64
  28  Apple           1.489          0.119          2.879          0              0              0              77
  29  PepperShaker    1.430          0.078          1.059          0              0              0              65
  30  ButterKnife     -0.960         0.937          1.076          0              0              0              64
  31  Potato          1.592          0.970          0.940          0              0              0              44
  32  Plate           -1.076         1.832          0.303          0              0              0              53
  33  DishSponge      1.746          0.937          0.806          0              0              0              44
  34  Egg             1.749          1.631          1.756          0              270            0              78
  35  Cup             -1.211         0.936          2.310          0              0              0              39
  36  Pan             -1.109         0.930          1.470          0              0              0              41
  37  Spoon           -1.127         0.939          2.234          0              90             0              39
  38  Mug             1.528          1.002          2.345          0              270            0              44
  39  CounterTop      -0.973         0.973          2.386          0              0              0
  40  Drawer          -0.783         0.774          2.381          0              180            0
  41  StoveBurner     -1.108         0.922          1.470          0              0              0
  42  Drawer          1.370          0.774          2.391          0              0              0
  43  Stool           -0.748         0.008          3.116          0              0              0
  44  CounterTop      1.504          0.973          2.309          0              0              0
  45  Cabinet         1.219          1.388          0.591          0              0              0
  46  Cabinet         1.500          2.113          1.164          0              0              0
  47  Cabinet         1.219          2.010          0.591          0              0              0
  48  Cabinet         1.219          0.388          2.105          0              0              0
  49  Cabinet         1.219          0.553          0.591          0              0              0
  50  Cabinet         -0.913         2.113          1.164          0              0              0
  51  Cabinet         -0.633         0.388          0.627          0              0              0
  52  Cabinet         -0.913         2.050          -0.329         0              0              0
  53  Cabinet         -0.913         2.113          0.583          0              0              0
  54  Cabinet         -0.913         2.113          2.082          0              0              0
  55  Cabinet         -0.913         2.113          1.207          0              0              0
  56  Cabinet         1.500          2.113          2.082          0              0              0
  57  Cabinet         1.500          2.113          1.207          0              0              0
  58  Cabinet         1.500          1.810          2.691          0              0              0
  59  Cabinet         1.500          1.810          2.101          0              0              0
  60  Cabinet         -0.633         0.388          2.105          0              0              0
  61  Cabinet         -0.911         1.810          2.700          0              180            0
  62  Drawer          -0.783         0.774          0.915          0              180            0
  63  StoveBurner     -1.108         0.922          1.865          0              0              0
  64  CounterTop      -0.972         0.973          0.921          0              0              0
  65  Cabinet         1.219          0.388          0.631          0              0              0
  66  Sink            1.544          0.869          1.639          0              180            0
  67  StoveBurner     -0.832         0.922          1.865          0              0              0
  68  StoveBurner     -0.831         0.922          1.470          0              0              0
  69  Drawer          1.370          0.774          0.916          0              0              0
  70  Cabinet         -0.911         1.810          2.111          0              180            0
  71  Fridge          -1.001         0.0            0.119          0              0              0
  72  StoveKnob       -0.648         0.926          1.923          0              270            0
  73  StoveKnob       -0.648         0.926          1.363          0              270            0
  74  StoveKnob       -0.648         0.926          1.513          0              270            0
  75  StoveKnob       -0.648         0.926          1.763          0              270            0
  76  Toaster         -1.002         0.926          2.561          0              90             0
  77  GarbageCan      1.451          -0.029         2.912          0              0              0
  78  Microwave       1.632          1.480          1.645          0              270            0
  79  Window          0.224          1.601          3.509          90             0              0
  80  CoffeeMachine   1.692          0.926          2.453          0              270            0
  81  SinkBasin       1.461          0.833          1.369          0              180            0
  82  LightSwitch     0.451          1.412          -1.674         0              0              0
  83  Faucet          1.707          0.925          1.363          0              270            0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: turn right, take a step, turn left, walk forward, turn left to face toaster | STEP 2: pick up the cup that is on the counter | STEP 3: turn left, walk forward, turn right to face fridge | STEP 4: put cup in fridge, wait a minute, take cup out | STEP 5: turn around, walk to cabinet | STEP 6: put cup in the cabinet | END