Task: Place a chilled cup on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.869          -2.5           0              180            0
   1  DishSponge      -1.056         0.900          1.015          0              270            0              65
   2  ButterKnife     0.671          0.759          -0.061         0              90             0              38
   3  Spatula         -0.051         0.915          1.015          0              0              0              65
   4  Spoon           -0.051         0.901          1.272          0              0              0              65
   5  Fork            0.720          0.760          0.002          0              270            0              38
   6  Egg             -0.051         0.937          1.101          0              270            0              65
   7  Egg             -0.855         0.937          1.272          0              270            0              65
   8  Cup             0.149          0.899          0.758          0              270            0              65
   9  Cup             -0.051         0.899          1.187          0              270            0              65
  10  Cup             0.721          0.664          0.387          0              0              0              44
  11  Tomato          0.841          0.820          -0.625         0              270            0              62
  12  Bowl            0.903          1.462          -0.146         0              0              0              50
  13  PepperShaker    -1.556         0.692          -3.361         0              0              0              66
  14  Bread           -0.051         0.944          0.843          0              270            0              65
  15  Lettuce         0.149          0.987          1.101          0              270            0              65
  16  Mug             0.698          0.941          -1.360         0              270            0              52
  17  Pot             -1.552         0.930          0.785          0              0              0              43
  18  Plate           -2.023         0.692          -1.447         0              0              0              75
  19  Fork            0.781          0.665          0.326          0              180            0              44
  20  SoapBottle      -1.187         0.051          -3.611         0              270            0              54
  21  Apple           0.721          0.718          0.630          0              0              0              44
  22  Pan             -2.097         0.930          1.049          0              0              0              46
  23  Egg             -0.252         0.937          1.101          0              270            0              65
  24  Spatula         0.574          0.775          -0.124         0              90             0              38
  25  Potato          0.799          0.805          -0.845         0              270            0              62
  26  Cup             0.877          0.882          -0.245         0              0              0              39
  27  SaltShaker      0.898          0.012          -0.506         0              0              0              42
  28  PepperShaker    0.601          0.661          0.630          0              0              0              44
  29  ButterKnife     0.754          0.755          -0.743         0              45             0              62
  30  DishSponge      0.961          0.664          0.448          0              0              0              44
  31  Bread           -0.873         0.931          0.978          0              24.231         0              65
  32  Lettuce         0.746          0.751          -1.880         0              270            0              59
  33  Tomato          0.746          0.514          -1.880         0              270            0              59
  34  Spoon           0.781          0.666          0.569          0              0              0              44
  35  Knife           0.817          0.782          0.002          0              270            0              38
  36  Mug             -1.056         0.895          1.187          0              270            0              65
  37  Bowl            -2.038         0.691          -1.003         0              0              0              75
  38  Drawer          0.706          0.766          -0.125         0              0              0
  39  CounterTop      0.792          0.919          -0.108         0              0              0
  40  Mirror          1.093          1.602          -0.643         0              0              0
  41  StoveBurner     -2.096         0.890          0.785          0              0              0
  42  Cabinet         0.507          0.345          -0.426         0              0              0
  43  StoveBurner     -1.552         0.890          0.785          0              0              0
  44  SideTable       0.770          -0.030         0.443          0              0              0
  45  Sink            0.753          0.882          -0.680         0              0              0
  46  StoveBurner     -2.096         0.890          1.049          0              0              0
  47  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  48  StoveBurner     -1.554         0.890          1.049          0              0              0
  49  Cabinet         0.507          0.345          0.156          0              0              0
  50  Cabinet         0.717          1.822          -0.398         0              0              0
  51  Cabinet         0.717          1.822          0.669          0              0              0
  52  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  53  Toaster         -0.522         0.886          1.081          0              180            0
  54  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  55  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  56  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  57  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  58  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  59  Fridge          0.680          -0.031         -1.957         0              0              0
  60  Window          -2.424         1.639          -2.453         90             270            0
  61  Microwave       -1.994         0.690          -3.651         0              0              0
  62  SinkBasin       0.757          0.762          -0.688         0              270            0
  63  LightSwitch     1.102          1.368          -3.737         0              270            0
  64  Shelf           -0.350         0.124          0.857          0              0              0
  65  DiningTable     -0.350         -0.025         0.857          0              0              0
  66  DiningTable     -1.909         -0.032         -3.507         0              0              0
  67  Blinds          -2.343         2.151          -2.437         0              270            0
  68  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  69  AluminumFoil    0.751          0.225          0.287          0              0              0
  70  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  71  Shelf           0.771          0.226          0.445          0              0              0
  72  Shelf           0.771          0.456          0.446          0              0              0
  73  Faucet          1.025          0.873          -0.678         270            180            0
  74  Shelf           -0.350         0.497          0.857          0              0              0
  75  DiningTable     -1.929         -0.035         -1.398         0              90             0
  76  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Turn left and move towards the refrigerator, then turn left and move to the table with the toaster on top. | STEP 2: Pick up the cup between the knife and the egg from the rear of the table. | STEP 3: Turn around and move to the refrigerator and then turn around to face the door of the refrigerator. | STEP 4: Open the refrigerator, place the cup on the top shelf to the left of the lettuce, chill the cup, open the refrigerator, pick up the cup from the top shelf, then close the refrigerator. | STEP 5: Turn to the right, move past the sink to the table next to the oven, then turn towards the small table in between the garbage bag and the counter. | STEP 6: Place the cup on the front center of the table; to the right of the salt shaker and in front of the cup. | END