Task: Chill a cup and place it in the lower cupboard

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          1.25           0              270            0
   1  Vase            -0.772         0.934          -1.463         0              0              0              56
   2  CreditCard      0.834          0.491          -0.731         0              270            0              60
   3  CreditCard      -1.674         0.551          2.563          0              0              0              82
   4  CellPhone       -1.881         0.550          2.822          0              0              0              82
   5  DishSponge      -0.697         0.780          -0.832         0              90             0              77
   6  ButterKnife     -0.550         0.933          -0.143         0              0              0              56
   7  Glassbottle     -1.363         0.554          2.718          0              0              0              82
   8  Spoon           -1.355         0.934          -1.167         0              0              0              56
   9  Spoon           -0.846         0.934          -1.154         0              0              0              77
  10  Egg             0.844          1.680          1.349          0              270            0              79
  11  Cup             -0.624         0.930          -1.154         0              0              0              56
  12  Plate           -0.642         0.783          -0.659         0              90             0              77
  13  Tomato          0.688          0.952          -1.965         0              0              0              62
  14  Tomato          0.944          0.952          -1.793         0              0              0              62
  15  SoapBottle      0.859          0.911          -0.729         0              0              0              57
  16  SoapBottle      -0.550         0.933          0.162          0              0              0              56
  17  Lettuce         0.905          0.940          1.349          0              270            0              79
  18  Lettuce         0.773          0.988          0.139          0              0              0              57
  19  Bread           0.966          1.216          1.349          0              270            0              79
  20  Mug             1.101          1.661          0.280          0              270            0              64
  21  Mug             0.903          0.942          -2.110         0              300.131        0              75
  22  Statue          -0.772         0.936          0.239          0              0              0              56
  23  Glassbottle     0.964          0.121          0.349          0              270            0              51
  24  Bread           1.029          0.992          -0.208         0              0              0              57
  25  CreditCard      -1.571         0.878          2.746          0              0              0              83
  26  CellPhone       -0.920         0.930          -1.231         0              0              0              56
  27  Potato          -0.808         0.811          -0.659         0              90             0              77
  28  Knife           -1.229         0.957          0.144          0              0              0              56
  29  Fork            -1.290         0.921          -1.287         0              0              0              56
  30  Pan             0.848          0.946          -1.080         0              0              0              50
  31  Lettuce         0.688          0.988          -0.381         0              0              0              57
  32  Plate           1.148          1.669          -1.961         0              270            0              55
  33  Apple           1.093          1.833          -1.236         0              270            0              78
  34  Pot             1.077          0.950          -1.504         0              0              0              52
  35  Spatula         0.915          0.717          -0.731         0              0              0              54
  36  PaperTowelRoll  -0.818         0.281          0.608          0              270            0              76
  37  Tomato          -1.054         0.217          0.543          0              180            0              76
  38  Egg             -0.920         0.971          -1.308         0              0              0              56
  39  SaltShaker      0.793          0.150          -0.690         0              270            0              59
  40  PepperShaker    0.996          2.204          -1.191         0              270            0              63
  41  Vase            1.082          2.207          -1.517         0              270            0              63
  42  ButterKnife     -1.325         0.919          -0.884         0              10.678         0              56
  43  SoapBottle      1.169          2.208          -1.299         0              270            0              63
  44  Vase            1.148          1.667          -0.401         0              270            0              65
  45  Bowl            0.844          1.405          1.444          0              270            0              79
  46  DishSponge      0.754          0.494          -0.565         0              270            0              60
  47  Spoon           -0.772         0.934          -1.618         0              0              0              56
  48  Cup             -0.808         0.777          -0.573         0              90             0              77
  49  Mug             1.199          0.906          0.313          0              180            0              57
  50  StoveBurner     0.842          0.919          -1.098         0              0              0
  51  Cabinet         0.648          0.474          0.244          0              270            0
  52  StoveBurner     1.077          0.919          -1.504         0              0              0
  53  StoveBurner     0.842          0.919          -1.504         0              0              0
  54  Drawer          0.637          0.755          -0.649         0              270            0
  55  Cabinet         0.949          2.159          -2.375         0              270            0
  56  CounterTop      -1.238         0.968          -0.643         0              0              0
  57  CounterTop      0.931          0.946          -0.208         0              0              0
  58  StoveBurner     1.077          0.919          -1.098         0              0              0
  59  Drawer          0.637          0.268          -0.649         0              270            0
  60  Drawer          0.637          0.547          -0.649         0              270            0
  61  Cabinet         0.648          0.475          -1.714         0              0              0
  62  CounterTop      0.931          0.946          -2.051         0              0              0
  63  Cabinet         0.948          2.439          -1.780         0              270            0
  64  Cabinet         0.948          2.159          -0.140         0              270            0
  65  Cabinet         0.949          2.159          -0.758         0              270            0
  66  Sink            -0.699         0.927          -0.649         0              0              0
  67  LightSwitch     -2.371         1.218          3.049          0              180            0
  68  StoveKnob       0.673          0.899          -1.373         315            90             180
  69  StoveKnob       0.673          0.899          -1.519         315            90             180
  70  StoveKnob       0.673          0.899          -1.086         315            90             180
  71  StoveKnob       0.673          0.899          -1.237         315            90             180
  72  Toaster         0.984          0.900          0.329          0              270            0
  73  Window          0.014          0.998          -2.640         90             0              0
  74  Window          -2.996         0.998          -2.640         90             0              0
  75  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  76  GarbageCan      -0.946         -0.036         0.575          0              180            0
  77  SinkBasin       -0.698         0.765          -0.647         0              90             0
  78  Microwave       1.042          1.680          -1.295         0              270            0
  79  Fridge          0.966          0.0            1.253          0              0              0
  80  HousePlant      -1.354         0.919          -1.540         0              0              0
  81  Shelf           -1.635         0.172          2.715          0              180            0
  82  Shelf           -1.635         0.552          2.715          0              180            0
  83  Shelf           -1.635         0.880          2.715          0              180            0
  84  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  85  Chair           -1.832         0.002          -0.034         0              119.999        0
  86  Chair           -1.854         0.002          -0.956         0              67.887         0
  87  Faucet          -0.867         1.161          -0.651         0              0              0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Move to the right of the refrigerator to the counter  | STEP 2: Open the cupboard door above and take out the cup in the cupboard | STEP 3: close the cupboard door, turn to the right, and carry the cup to the refrigerator | STEP 4: Open the refrigerator door, place the cup inside the refrigerator on the shelf, close the refrigerator door, wait, open the refrigerator door, and take out the cup | STEP 5: Turn to the right of the refrigerator and open the lower cupboard door | STEP 6: Put the cup in the lower cupboard and close the door | END