Task: Place a chilled mug 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           -2.0           0.900          1.0            0              90             0
   1  Statue          -1.961         0.910          -1.265         0              0              0              63
   2  Vase            0.633          0.117          -1.408         0              0              0              70
   3  Book            -1.516         0.908          -1.591         0              0              0              63
   4  Book            -1.627         0.908          -0.614         0              0              0              63
   5  DishSponge      0.014          0.928          -1.646         0              270            0              60
   6  ButterKnife     -2.072         0.912          -0.288         0              0              0              63
   7  Kettle          0.974          0.957          -1.688         0              180            0              62
   8  WineBottle      1.597          1.656          -1.709         0              0              0              73
   9  WineBottle      0.525          0.913          -1.572         0              0              0              63
  10  Spatula         -2.510         0.893          3.559          0              270            0              65
  11  Spatula         -2.420         0.893          2.983          0              225            0              65
  12  Pot             0.974          0.957          -1.419         0              180            0              81
  13  Pot             3.689          0.555          1.449          0              270            0              86
  14  Fork            -2.148         0.718          -1.716         0              90             0              82
  15  Fork            -2.584         0.879          2.884          0              0              0              65
  16  Spoon           0.289          0.929          -1.646         0              90             0              60
  17  Spoon           -0.942         0.913          -1.369         0              90             0              63
  18  Egg             0.307          0.828          2.023          0              180            0              88
  19  Egg             0.307          0.414          1.996          0              180            0              88
  20  Knife           -3.017         0.900          2.863          0              225            0              65
  21  SoapBottle      -3.165         0.879          3.221          0              270            0              65
  22  Tomato          -2.659         0.925          3.559          0              0              0              65
  23  Tomato          0.307          0.850          2.251          0              180            0              88
  24  Bowl            -1.627         0.910          -1.265         0              0              0              63
  25  Bowl            0.193          1.570          2.160          0              180            0              88
  26  SaltShaker      -2.458         0.874          3.737          0              225            0              65
  27  PepperShaker    -0.403         0.118          -1.413         0              0              0              72
  28  PepperShaker    -2.048         0.714          -1.785         0              0              0              82
  29  Bread           -0.149         0.886          2.194          0              180            0              88
  30  Bread           -2.300         0.961          3.580          0              225            0              65
  31  Book            -2.183         0.908          -0.614         0              0              0              63
  32  Fork            -2.898         0.879          2.983          0              225            0              65
  33  Tomato          -0.377         0.850          2.194          0              180            0              88
  34  Egg             -0.263         1.169          2.167          0              180            0              88
  35  Kettle          -0.833         0.900          -1.757         0              0              0              63
  36  Vase            -1.888         1.658          -1.710         0              0              0              59
  37  Cup             3.637          0.551          1.760          0              270            0              86
  38  WineBottle      -2.405         0.879          2.758          0              135            0              65
  39  Plate           1.301          2.160          -1.750         0              0              0              61
  40  Spatula         0.234          0.943          -1.356         0              0              0              60
  41  Potato          -2.881         0.911          3.390          0              0              0              65
  42  Pot             1.328          0.957          -1.420         0              180            0              67
  43  Knife           1.760          0.932          -1.618         0              90             0              83
  44  SaltShaker      -1.849         0.908          -0.939         0              0              0              63
  45  PepperShaker    0.638          0.714          -1.343         0              0              0              80
  46  Lettuce         -1.654         0.965          -1.051         0              117.902        0              63
  47  ButterKnife     0.124          0.928          -1.646         0              270            0              60
  48  Bread           -2.490         0.961          3.147          0              270            0              65
  49  Vase            -1.501         1.658          -1.674         0              0              0              76
  50  DishSponge      -0.844         0.192          2.097          0              90             0              93
  51  Apple           -2.996         0.933          3.221          0              270            0              65
  52  Pan             0.972          0.959          -1.426         0              0              0              81
  53  Spoon           0.482          0.719          -1.443         0              90             0              80
  54  SoapBottle      3.634          0.881          1.861          0              270            0              84
  55  Mug             1.680          0.109          -1.412         0              0              0              69
  56  Statue          0.617          0.919          -1.471         0              90             0              63
  57  Statue          -1.961         0.910          -0.614         0              0              0              63
  58  Bowl            -0.149         1.570          2.040          0              180            0              88
  59  Cabinet         -2.171         2.009          -1.538         0              0              0
  60  Sink            0.024          0.771          -1.708         0              270            0
  61  Cabinet         1.444          2.259          -1.542         0              0              0
  62  StoveBurner     0.974          0.957          -1.688         0              180            0
  63  CounterTop      -1.866         0.947          -0.614         0              0              0
  64  Cabinet         -2.217         0.373          -1.874         0              0              0
  65  DiningTable     -2.663         0.002          3.208          0              0              0
  66  StoveBurner     1.328          0.957          -1.688         0              180            0
  67  StoveBurner     1.328          0.957          -1.420         0              180            0
  68  Cabinet         -1.478         0.373          -1.235         0              0              0
  69  Cabinet         1.775          0.372          -1.242         0              0              0
  70  Cabinet         0.774          0.372          -1.242         0              0              0
  71  Cabinet         0.375          0.372          -1.242         0              0              0
  72  Cabinet         -0.574         0.372          -1.238         0              0              0
  73  Cabinet         1.775          2.009          -1.542         0              0              0
  74  Cabinet         0.524          2.009          -1.542         0              0              0
  75  Cabinet         -0.714         2.009          -1.542         0              0              0
  76  Cabinet         -1.671         2.009          -1.538         0              0              0
  77  Cabinet         0.854          2.259          -1.542         0              0              0
  78  Drawer          -1.636         0.683          -0.930         0              0              0
  79  Drawer          1.650          0.682          -1.396         0              0              0
  80  Drawer          0.600          0.682          -1.396         0              0              0
  81  StoveBurner     0.974          0.957          -1.419         0              180            0
  82  Drawer          -2.062         0.683          -1.579         0              0              0
  83  CounterTop      1.645          0.945          -1.527         0              0              0
  84  Shelf           3.725          0.880          1.671          0              90             0
  85  LightSwitch     2.830          1.266          -0.748         0              0              0
  86  Shelf           3.726          0.552          1.671          0              90             0
  87  Microwave       1.150          1.655          -1.614         0              0              0
  88  Fridge          -0.035         0.0            2.177          0              180            0
  89  Window          -0.115         1.802          -1.896         90             0              0
  90  Window          -4.009         1.799          0.310          90             90             0
  91  Shelf           3.726          0.172          1.671          0              90             0
  92  SinkBasin       -0.330         0.686          -1.581         0              270            0
  93  GarbageCan      -0.870         -0.001         2.136          0              90             0
  94  StoveKnob       1.089          0.913          -1.243         45             0              0
  95  StoveKnob       1.208          0.913          -1.243         45             0              0
  96  StoveKnob       1.340          0.913          -1.243         45             0              0
  97  StoveKnob       0.961          0.913          -1.243         45             0              0
  98  Toaster         1.637          0.900          -1.673         0              0              0
  99  Chair           -3.505         0.002          3.290          0              105.736        0
 100  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
 101  HousePlant      -2.663         0.835          3.209          0              0              0
 102  Faucet          -0.187         0.922          -1.75          0              311.166        0
 103  ShelvingUnit    3.726          0.006          1.671          0              90             0
 104  Stool           -2.501         -0.000         0.062          1.223          91.243         0
 105  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 106  Chair           -2.934         0.002          2.437          0              28.531         0
 107  Chair           -1.698         0.002          3.235          0              245.204        0
 108  NorthWall
 109  EastWall
 110  SouthWall
 111  WestWall

Plan:
STEP 1: Go the small cabinet to the left of the stove | STEP 2: Take a mug out of the cabinet | STEP 3: Go to the fridge | STEP 4: Chill the mug in the fridge | STEP 5: Go to the shelves | STEP 6: Place the mug on a shelf | END