Task: Put a chilled wooden cup in an upper 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          0.901          1.25           0              0              0
   1  Potato          -2.883         0.080          0.317          0              26.101         0              68
   2  Potato          -2.691         0.325          4.501          0              90             0              71
   3  Spatula         -1.266         0.810          0.281          0              90             0              72
   4  Spatula         -0.272         0.677          0.409          0              0              0              43
   5  Spoon           -2.377         0.901          2.441          0              0              0              75
   6  Spoon           -2.686         0.901          2.045          0              0              0              75
   7  Fork            -1.637         0.928          0.602          0              0              0              54
   8  Cup             -1.180         0.795          0.447          0              0              0              72
   9  Cup             -0.244         1.023          0.267          0              0              0              73
  10  Cup             -0.359         1.773          0.160          0              0              0              53
  11  Plate           -2.301         1.777          0.251          0              0              0              50
  12  Knife           -0.314         0.926          2.731          0              90             0              77
  13  Knife           -2.789         0.926          2.573          0              270            0              75
  14  SoapBottle      -2.706         0.935          3.209          0              0              0              61
  15  SoapBottle      -0.572         0.900          2.329          0              0              0              77
  16  Tomato          -2.888         0.696          4.204          0              90             0              71
  17  Bowl            -1.138         1.770          0.160          0              0              0              51
  18  SaltShaker      -2.485         0.658          0.519          0              0              0              62
  19  Lettuce         -0.400         0.980          2.530          0              0              0              77
  20  Apple           -1.353         0.853          0.392          0              0              0              72
  21  Apple           -2.831         0.355          4.575          0              90             0              71
  22  Egg             -0.143         0.933          2.932          0              0              0              77
  23  Plate           -1.691         1.777          0.160          0              0              0              49
  24  Fork            -2.161         0.662          0.300          0              90             0              62
  25  Bread           -0.400         0.957          3.133          0              0              0              77
  26  Apple           -2.747         0.110          0.335          0              26.101         0              68
  27  Lettuce         -0.657         0.980          3.334          0              0              0              77
  28  Spatula         -2.892         0.915          2.441          0              270            0              75
  29  Knife           -2.686         0.926          2.706          0              0              0              75
  30  Potato          -0.191         1.049          0.140          0              0              0              73
  31  Tomato          -2.686         0.964          2.441          0              0              0              75
  32  Cup             -2.892         0.900          2.573          0              0              0              75
  33  SaltShaker      -2.081         1.769          0.068          0              0              0              50
  34  PepperShaker    -0.326         0.658          0.300          0              0              0              43
  35  ButterKnife     -0.400         0.900          2.530          0              0              0              77
  36  SoapBottle      -0.194         1.773          0.160          0              0              0              53
  37  Pan             -0.254         0.928          4.672          0              0              0              56
  38  DishSponge      -0.314         0.900          3.334          0              0              0              77
  39  Pot             -0.535         0.928          4.274          0              0              0              58
  40  Spoon           -0.400         0.901          2.731          0              0              0              77
  41  Mug             -2.764         1.181          4.575          0              90             0              71
  42  Bowl            -2.480         0.897          2.706          0              0              0              75
  43  Drawer          -0.325         0.696          0.413          0              0              0
  44  Cabinet         -0.595         0.490          0.648          0              0              0
  45  Cabinet         -0.555         0.490          0.646          0              0              0
  46  Cabinet         -1.591         0.490          0.646          0              0              0
  47  Cabinet         -1.554         0.490          0.646          0              0              0
  48  Cabinet         -2.550         0.490          0.646          0              0              0
  49  Cabinet         -1.514         2.046          0.392          0              0              0
  50  Cabinet         -2.474         2.046          0.392          0              0              0
  51  Cabinet         -1.478         2.046          0.392          0              0              0
  52  Cabinet         -0.518         2.046          0.392          0              0              0
  53  Cabinet         -0.479         2.046          0.392          0              0              0
  54  CounterTop      -1.366         0.952          0.349          0              0              0
  55  Sink            -1.108         0.926          0.340          0              0              0
  56  StoveBurner     -0.254         0.922          4.672          0              0              0
  57  Drawer          -1.824         0.696          0.413          0              0              0
  58  StoveBurner     -0.535         0.922          4.274          0              0              0
  59  StoveBurner     -0.254         0.922          4.274          0              0              0
  60  StoveBurner     -0.536         0.922          4.672          0              0              0
  61  CounterTop      -2.780         0.971          3.487          0              0              0
  62  Drawer          -2.323         0.696          0.413          0              0              0
  63  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  66  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  67  Toaster         -0.286         0.861          3.520          0              270            0
  68  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  69  LightSwitch     -0.064         1.447          1.996          0              270            0
  70  Window          -3.075         1.593          1.361          90             90             0
  71  Fridge          -2.802         0.0            4.427          0              0              0
  72  SinkBasin       -1.106         0.785          0.337          0              0              0
  73  Microwave       -0.358         0.917          0.224          0              0              0
  74  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  75  DiningTable     -2.733         -0.003         2.607          0              270            0
  76  Faucet          -1.077         0.920          0.028          270            270            0
  77  DiningTable     -0.488         -0.003         3.182          0              270            0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Walk over to the microwave on the counter behind you and look up at the upper cabinets. | STEP 2: Open the leftmost upper cabinet door and take the wooden cup out of the cabinet, then close the cabinet. | STEP 3: Turn right and walk forward, then hang a right and walk over to the wall, turn left and walk up to the fridge. | STEP 4: Open the fridge and put the wooden cup inside then close the fridge, after a couple seconds open the fridge back up and take out the now chilled wooden cup then close the fridge. | STEP 5: Turn left and walk towards the counter, then hang a left and walk over to the door, turn right and walk up to the microwave then look up at the upper cabinets. | STEP 6: Open the leftmost upper cabinet door and put the chilled wooden cup inside, then close the door. | END