Task: put chilled cup in cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.5            0.930          0.25           0              90             0
   1  Ladle           -0.868         0.743          0.664          0              0              0              68
   2  Ladle           3.140          0.214          0.559          0              90             0              73
   3  Kettle          -0.239         0.902          -1.089         0              315            0              93
   4  Kettle          -0.419         0.902          -1.269         0              315            0              66
   5  Spoon           -0.731         0.519          -0.707         0              135            0              87
   6  Spoon           1.229          0.909          0.605          0              0              0              95
   7  Fork            -0.868         0.131          1.518          0              0              0              88
   8  Fork            0.622          0.911          0.326          0              0              0              95
   9  CellPhone       -0.827         0.323          -0.011         0              0              0              69
  10  CellPhone       0.494          0.897          -1.373         0              0              0              85
  11  Mug             -1.085         0.992          1.311          0              90             0              112
  12  Mug             0.304          1.254          -1.741         0              0              0              80
  13  Bread           1.098          0.989          0.747          0              0              0              95
  14  Bread           -0.935         0.979          0.846          0              0              0              64
  15  Lettuce         3.208          0.166          1.626          0              225            0              105
  16  Lettuce         -0.038         0.965          -1.388         0              45             0              85
  17  SaltShaker      -0.055         0.702          -1.377         0              45             0              74
  18  SaltShaker      -0.684         0.324          -0.753         0              45             0              97
  19  Bowl            0.836          0.908          0.410          0              36.810         0              95
  20  Egg             -0.752         0.952          -0.776         0              45             0              64
  21  Cup             2.971          0.173          -0.702         0              0              0              76
  22  Cup             3.141          0.173          -0.356         0              0              0              75
  23  Cup             0.533          0.908          0.527          0              0              0              95
  24  Plate           3.173          1.477          -1.235         0              0              0              78
  25  Plate           0.808          1.687          -1.619         0              0              0              79
  26  Glassbottle     0.044          0.901          -1.677         0              45             0              85
  27  SoapBottle      3.198          0.184          -0.501         0              0              0              75
  28  Potato          1.086          0.749          -1.459         0              0              0              110
  29  Fork            3.07           0.753          0.098          0              270            0              109
  30  Ladle           3.152          0.749          0.761          0              270            0              86
  31  Pot             0.423          0.900          0.869          0              0              0              95
  32  Kettle          -0.420         0.902          -0.920         0              135            0              59
  33  Spatula         2.947          0.727          0.829          0              270            0              86
  34  Knife           -0.991         0.732          1.255          0              90             0              57
  35  Lettuce         3.277          0.966          -0.798         0              0              0              63
  36  Cup             2.907          1.462          -1.599         0              0              0              62
  37  SaltShaker      -0.709         0.130          -0.778         0              45             0              90
  38  Egg             0.836          0.963          0.747          0              0              0              95
  39  PepperShaker    -0.827         0.322          1.168          0              0              0              52
  40  ButterKnife     -1.080         0.900          -0.047         0              0              0              64
  41  Apple           0.929          1.321          -1.503         0              0              0              110
  42  Pan             0.341          0.873          -1.649         0              167.065        0              85
  43  Bread           -0.935         0.979          -0.047         0              0              0              64
  44  CellPhone       0.054          0.897          -1.481         0              45             0              85
  45  DishSponge      2.888          0.900          -0.399         0              0              0              63
  46  Tomato          -0.935         0.937          0.399          0              0              0              64
  47  Spoon           3.200          0.901          -0.798         0              0              0              63
  48  Bowl            -0.987         0.897          -0.746         0              45             0              64
  49  Mug             0.773          0.881          -1.531         0              0              0              110
  50  Drawer          0.376          0.572          -1.509         0              0              0
  51  Drawer          3.020          0.769          -0.783         0              180            0
  52  Drawer          -0.860         0.577          1.429          0              0              0
  53  StoveBurner     -0.600         0.897          -1.090         0              135            0
  54  Drawer          0.376          0.191          -1.509         0              0              0
  55  Cabinet         1.402          1.874          -1.259         0              0              0
  56  Cabinet         -0.202         1.963          -1.328         0              0              0
  57  Drawer          -0.860         0.765          1.429          0              0              0
  58  Drawer          -0.677         0.765          -0.700         0              0              0
  59  StoveBurner     -0.420         0.897          -0.920         0              135            0
  60  Drawer          3.020          0.769          -0.407         0              180            0
  61  Drawer          -0.860         0.577          0.663          0              0              0
  62  Cabinet         2.819          1.768          -1.850         0              0              0
  63  CounterTop      3.111          0.936          0.019          0              0              0
  64  CounterTop      -1.007         0.935          -0.039         0              0              0
  65  Drawer          -0.860         0.385          0.663          0              0              0
  66  StoveBurner     -0.419         0.897          -1.269         0              315            0
  67  Drawer          -0.047         0.573          -1.324         0              0              0
  68  Drawer          -0.860         0.765          0.663          0              0              0
  69  Drawer          -0.860         0.385          -0.100         0              0              0
  70  Drawer          0.376          0.380          -1.509         0              0              0
  71  Drawer          -0.860         0.765          -0.100         0              0              0
  72  Drawer          0.376          0.765          -1.509         0              0              0
  73  Cabinet         2.849          0.419          0.409          0              0              0
  74  Drawer          -0.047         0.765          -1.324         0              0              0
  75  Cabinet         2.849          0.419          -0.610         0              0              0
  76  Cabinet         2.849          0.419          -0.959         0              0              0
  77  Cabinet         3.069          1.666          -0.709         0              0              0
  78  Cabinet         2.819          1.768          -1.047         0              0              0
  79  Cabinet         0.620          1.874          -1.259         0              0              0
  80  Cabinet         0.140          1.666          -1.559         0              0              0
  81  Cabinet         -0.189         1.666          -1.340         0              0              0
  82  Cabinet         -0.709         1.963          -0.819         0              0              0
  83  Cabinet         -0.920         1.665          -0.620         0              0              0
  84  Drawer          -0.860         0.190          -0.100         0              0              0
  85  CounterTop      0.133          0.935          -1.457         0              0              0
  86  Drawer          3.020          0.769          0.695          0              180            0
  87  Drawer          -0.677         0.577          -0.700         0              0              0
  88  Drawer          -0.860         0.190          1.429          0              0              0
  89  Drawer          -0.047         0.192          -1.324         0              0              0
  90  Drawer          -0.677         0.193          -0.700         0              0              0
  91  Drawer          -0.860         0.577          -0.100         0              0              0
  92  Sink            3.078          0.887          0.086          0              0              0
  93  StoveBurner     -0.239         0.897          -1.089         0              315            0
  94  Drawer          -0.860         0.190          0.663          0              0              0
  95  CounterTop      1.210          0.937          0.463          0              0              0
  96  Drawer          -0.047         0.381          -1.324         0              0              0
  97  Drawer          -0.677         0.387          -0.700         0              0              0
  98  Mirror          -1.295         1.630          0.045          0              0              0
  99  Drawer          -0.860         0.385          1.429          0              0              0
 100  HousePlant      3.196          0.891          -0.368         0              0              0
 101  StoveKnob       -0.090         0.790          -1.009         270            45             0
 102  StoveKnob       -0.280         0.790          -0.819         270            45             0
 103  StoveKnob       -0.180         0.790          -0.920         270            45             0
 104  StoveKnob       -0.370         0.790          -0.720         270            45             0
 105  GarbageCan      3.137          0.025          1.545          0              225            0
 106  Window          3.703          1.675          0.046          90             90             0
 107  CoffeeMachine   3.214          0.890          0.697          0              270            0
 108  LightSwitch     2.592          1.309          -1.880         0              0              0
 109  SinkBasin       3.069          0.736          0.108          0              90             0
 110  Fridge          1.008          0.029          -1.467         0              0              0
 111  Toaster         -1.035         0.873          -0.396         0              90             0
 112  Microwave       -1.034         0.874          1.428          0              90             0
 113  Faucet          3.305          0.886          0.094          270            180            0
 114  NorthWall
 115  EastWall
 116  SouthWall
 117  WestWall

Plan:
STEP 1: walk to face cabinet under cabinet to the right of the sink | STEP 2: pick up brown cup from cabinet | STEP 3: walk to face fridge | STEP 4: chill and remove cup from fridge | STEP 5: gaze upwards to cabinet above fridge | STEP 6: put cup in cabinet | END