Task: Place a chilled cup on a shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           3.25           0.900          -0.5           0              180            0
   1  Pan             -1.738         0.911          0.363          0              0              0              58
   2  Potato          -2.659         0.911          2.884          0              0              0              60
   3  Book            0.617          0.908          -1.674         0              0              0              58
   4  Book            -1.627         0.908          -1.591         0              0              0              58
   5  Kettle          -1.831         1.658          -1.747         0              0              0              54
   6  WineBottle      -2.050         0.120          -1.360         0              0              0              59
   7  Spatula         -1.627         0.927          -1.265         0              0              0              58
   8  Spatula         -2.964         0.889          3.632          0              135            0              60
   9  Pot             -2.072         0.914          -0.288         0              0              0              58
  10  Fork            -2.300         0.879          2.863          0              135            0              60
  11  Fork            -0.330         0.697          -1.520         0              90             0              87
  12  Egg             -0.034         1.169          2.246          0              180            0              83
  13  Egg             0.193          0.414          2.054          0              180            0              83
  14  Cup             3.586          0.551          1.345          0              270            0              81
  15  Cup             0.234          0.927          -1.573         0              270            0              55
  16  Cup             -1.738         0.910          0.037          0              0              0              58
  17  Plate           -2.996         0.878          3.221          0              270            0              60
  18  SoapBottle      -0.871         0.193          2.213          0              90             0              88
  19  SoapBottle      3.634          0.881          1.656          0              270            0              79
  20  Bowl            -2.321         0.872          3.221          0              270            0              60
  21  Bowl            -0.292         0.119          -1.413         0              0              0              67
  22  PepperShaker    -1.682         0.716          -0.788         0              0              0              73
  23  Bread           -2.592         0.958          3.393          0              225            0              60
  24  Lettuce         -2.807         0.943          2.715          0              0              0              60
  25  Lettuce         -2.436         0.939          3.559          0              0              0              60
  26  Book            0.633          0.113          -1.408         0              0              0              65
  27  Fork            -2.487         0.879          3.154          0              225            0              60
  28  Tomato          -2.510         0.922          2.884          0              0              0              60
  29  Egg             -1.568         0.929          -0.469         0              0              0              58
  30  Kettle          -0.833         0.900          -1.757         0              0              0              58
  31  Vase            3.671          0.168          1.841          0              0              0              81
  32  Cup             3.689          0.551          1.656          0              270            0              81
  33  WineBottle      -2.058         1.658          -1.747         0              0              0              54
  34  Plate           -0.034         0.807          2.251          0              180            0              83
  35  Spatula         -2.577         0.893          3.618          0              315            0              60
  36  Potato          -1.627         0.948          -0.288         0              0              0              58
  37  Pot             1.328          0.957          -1.688         0              180            0              61
  38  Knife           0.289          0.952          -1.646         0              270            0              55
  39  SaltShaker      -2.081         0.714          -1.647         0              0              0              77
  40  PepperShaker    -2.015         0.714          -1.579         0              0              0              77
  41  Lettuce         -2.539         0.939          3.102          0              135            0              60
  42  ButterKnife     -3.122         0.874          2.968          0              225            0              60
  43  Bread           -0.035         1.655          2.040          0              180            0              83
  44  Vase            -1.378         0.913          -1.674         0              0              0              58
  45  DishSponge      0.093          0.114          -1.487         0              0              0              66
  46  Apple           0.307          0.444          2.054          0              180            0              83
  47  Pan             0.974          0.957          -1.688         0              180            0              57
  48  Spoon           -0.942         0.913          -1.369         0              90             0              58
  49  SoapBottle      -1.557         1.657          -1.674         0              0              0              71
  50  Mug             -0.888         1.649          -1.712         0              0              0              70
  51  Statue          3.676          0.168          1.410          0              334.521        0              81
  52  Statue          3.668          0.540          1.800          0              0              0              81
  53  Bowl            1.157          1.759          -1.629         0              0              0              82
  54  Cabinet         -2.171         2.009          -1.538         0              0              0
  55  Sink            0.024          0.771          -1.708         0              270            0
  56  Cabinet         1.444          2.259          -1.542         0              0              0
  57  StoveBurner     0.974          0.957          -1.688         0              180            0
  58  CounterTop      -1.866         0.947          -0.614         0              0              0
  59  Cabinet         -2.217         0.373          -1.874         0              0              0
  60  DiningTable     -2.663         0.002          3.208          0              0              0
  61  StoveBurner     1.328          0.957          -1.688         0              180            0
  62  StoveBurner     1.328          0.957          -1.420         0              180            0
  63  Cabinet         -1.478         0.373          -1.235         0              0              0
  64  Cabinet         1.775          0.372          -1.242         0              0              0
  65  Cabinet         0.774          0.372          -1.242         0              0              0
  66  Cabinet         0.375          0.372          -1.242         0              0              0
  67  Cabinet         -0.574         0.372          -1.238         0              0              0
  68  Cabinet         1.775          2.009          -1.542         0              0              0
  69  Cabinet         0.524          2.009          -1.542         0              0              0
  70  Cabinet         -0.714         2.009          -1.542         0              0              0
  71  Cabinet         -1.671         2.009          -1.538         0              0              0
  72  Cabinet         0.854          2.259          -1.542         0              0              0
  73  Drawer          -1.636         0.683          -0.930         0              0              0
  74  Drawer          1.650          0.682          -1.396         0              0              0
  75  Drawer          0.600          0.682          -1.396         0              0              0
  76  StoveBurner     0.974          0.957          -1.419         0              180            0
  77  Drawer          -2.062         0.683          -1.579         0              0              0
  78  CounterTop      1.645          0.945          -1.527         0              0              0
  79  Shelf           3.725          0.880          1.671          0              90             0
  80  LightSwitch     2.830          1.266          -0.748         0              0              0
  81  Shelf           3.726          0.552          1.671          0              90             0
  82  Microwave       1.150          1.655          -1.614         0              0              0
  83  Fridge          -0.035         0.0            2.177          0              180            0
  84  Window          -0.115         1.802          -1.896         90             0              0
  85  Window          -4.009         1.799          0.310          90             90             0
  86  Shelf           3.726          0.172          1.671          0              90             0
  87  SinkBasin       -0.330         0.686          -1.581         0              270            0
  88  GarbageCan      -0.870         -0.001         2.136          0              90             0
  89  StoveKnob       1.089          0.913          -1.243         45             0              0
  90  StoveKnob       1.208          0.913          -1.243         45             0              0
  91  StoveKnob       1.340          0.913          -1.243         45             0              0
  92  StoveKnob       0.961          0.913          -1.243         45             0              0
  93  Toaster         1.637          0.900          -1.673         0              0              0
  94  Chair           -3.505         0.002          3.290          0              105.736        0
  95  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  96  HousePlant      -2.663         0.835          3.209          0              0              0
  97  Faucet          -0.187         0.922          -1.75          0              311.166        0
  98  ShelvingUnit    3.726          0.006          1.671          0              90             0
  99  Stool           -2.501         -0.000         0.062          1.223          91.243         0
 100  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 101  Chair           -2.934         0.002          2.437          0              28.531         0
 102  Chair           -1.698         0.002          3.235          0              245.204        0
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: Go to the shelf behind you. | STEP 2: Take the rightmost cup from the second shelf. | STEP 3: Go to the fridge behind you. | STEP 4: Chill the cup in the fridge. | STEP 5: Return to the shelf to your left. | STEP 6: Place the cup on the middle shelf and to the left of the other cup. | END