Task: Chill a mug and place it on the shelf.

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          1.5            0              270            0
   1  Statue          -0.634         0.920          0.135          0              0              0              76
   2  Statue          -0.897         0.918          -1.929         0              0              0              83
   3  DishSponge      -0.252         0.695          0.263          0              180            0              82
   4  ButterKnife     -1.018         0.911          -2.182         0              0              0              83
   5  ButterKnife     -0.152         1.131          0.706          0              0              0              79
   6  Kettle          -1.056         0.956          -1.127         0              0              0              80
   7  Pot             -1.289         0.957          -0.756         0              180            0              58
   8  Spatula         -1.080         0.907          -0.231         0              180            0              76
   9  Fork            -0.031         0.763          -2.063         0              0              0              93
  10  Fork            -0.152         1.132          0.485          0              0              0              79
  11  Spoon           -1.045         1.132          0.441          0              0              0              79
  12  Spoon           0.012          0.698          0.181          0              180            0              82
  13  Egg             2.000          0.850          -0.458         0              270            0              90
  14  Knife           -0.849         0.937          0.135          0              0              0              76
  15  Tomato          2.000          1.148          -0.458         0              270            0              90
  16  Bowl            1.513          0.114          -1.266         0              0              0              57
  17  PepperShaker    3.109          0.548          0.142          0              180            0              89
  18  Bread           1.945          1.180          -0.737         0              270            0              90
  19  Lettuce         1.419          0.987          -2.183         0              0              0              83
  20  Mug             0.501          0.955          -1.900         0              0              0              99
  21  Mug             1.804          0.111          -1.462         0              0              0              57
  22  Mug             3.002          0.874          0.195          0              180            0              87
  23  Apple           1.781          1.064          -1.297         0              270            0              88
  24  Apple           -0.420         0.962          0.135          0              0              0              76
  25  Pan             -0.205         0.913          0.241          0              270            0              76
  26  Knife           -1.278         0.937          0.135          0              0              0              76
  27  Bowl            1.836          1.424          -0.365         0              270            0              90
  28  Fork            1.419          0.911          -1.929         0              0              0              83
  29  Cup             0.101          0.750          -1.938         0              0              0              93
  30  Ladle           1.644          0.948          -2.098         0              0              0              83
  31  Apple           1.845          0.111          0.138          0              0              0              86
  32  Kettle          -1.056         0.956          -0.672         0              180            0              55
  33  Vase            1.644          0.913          -1.844         0              0              0              83
  34  Potato          0.071          1.161          0.485          0              0              0              79
  35  Pot             -1.289         0.957          -1.02          0              0              0              73
  36  Bread           -1.151         0.984          -0.196         0              0              1.961          76
  37  Plate           0.446          1.659          -2.161         0              0              0              63
  38  Spatula         -0.691         0.709          -1.979         0              90             0              53
  39  PaperTowelRoll  1.924          0.167          0.166          0              180            0              86
  40  Vase            1.528          1.659          -2.164         0              90             0              56
  41  Egg             0.055          0.797          -2.008         0              0              0              93
  42  SoapBottle      1.63           0.116          -1.527         0              0              0              57
  43  SaltShaker      -0.997         0.909          -0.170         0              0              0              76
  44  Lettuce         2.000          0.893          -0.737         0              270            0              90
  45  PepperShaker    2.798          0.548          0.038          0              180            0              89
  46  ButterKnife     1.194          0.911          -1.844         0              0              0              83
  47  DishSponge      2.002          0.062          0.138          0              0              0              86
  48  Vase            -0.822         1.129          0.529          0              0              0              79
  49  Spoon           -0.290         0.764          -2.008         0              0              0              93
  50  Tomato          -0.598         1.181          0.485          0              0              0              79
  51  Mug             1.878          1.010          -1.402         0              270            0              88
  52  Statue          2.657          0.167          0.191          0              0              0              92
  53  Drawer          -0.819         0.75           -1.690         0              0              0
  54  Cabinet         -1.149         2.264          -0.838         0              90             0
  55  StoveBurner     -1.056         0.949          -0.671         0              180            0
  56  Cabinet         1.738          2.019          -2.000         0              0              0
  57  Cabinet         1.389          0.469          -1.059         0              0              0
  58  StoveBurner     -1.289         0.949          -0.755         0              180            0
  59  Faucet          -0.157         1.052          -2.196         0              270            0
  60  Cabinet         1.75           2.019          -1.029         0              0              0
  61  Cabinet         1.75           2.019          -1.399         0              0              0
  62  Cabinet         1.179          2.019          -2.0           0              0              0
  63  Cabinet         0.199          2.019          -2.0           0              0              0
  64  Cabinet         -1.100         2.019          -2.0           0              0              0
  65  Cabinet         -1.149         2.019          -1.979         0              0              0
  66  Cabinet         -1.149         2.019          -0.770         0              0              0
  67  Cabinet         -1.149         2.019          0.380          0              0              0
  68  Cabinet         -0.819         0.469          -1.689         0              0              0
  69  Cabinet         -0.839         0.469          -1.664         0              0              0
  70  Cabinet         -0.839         0.469          -0.049         0              0              0
  71  Cabinet         -0.414         0.370          -0.009         0              0              0
  72  Sink            -0.118         0.875          -2.009         0              0              0
  73  StoveBurner     -1.289         0.949          -1.019         0              0              0
  74  Cabinet         0.119          2.264          -2.0           0              0              0
  75  Cabinet         -0.459         2.264          -2.0           0              0              0
  76  CounterTop      -0.665         0.949          0.188          0              0              0
  77  Drawer          -0.449         0.75           -0.010         0              180            0
  78  Cabinet         -0.450         0.469          -0.009         0              0              0
  79  CounterTop      -0.630         1.167          0.573          0              0              0
  80  StoveBurner     -1.056         0.949          -1.126         0              0              0
  81  Cabinet         1.376          0.460          -1.685         0              0              0
  82  Drawer          -0.070         0.75           -0.009         0              180            0
  83  CounterTop      1.159          0.946          -2.013         0              0              0
  84  Cabinet         -1.150         2.264          -1.418         0              90             0
  85  HousePlant      -1.246         1.108          0.606          0              0              0
  86  GarbageCan      1.923          -0.010         0.137          0              0              0
  87  Shelf           2.759          0.880          0.144          0              0              0
  88  Microwave       1.827          0.900          -1.354         0              270            0
  89  Shelf           2.759          0.552          0.145          0              0              0
  90  Fridge          1.975          0.0            -0.537         0              0              0
  91  LightSwitch     0.404          1.297          2.0            0              180            0
  92  Shelf           2.760          0.172          0.145          0              0              0
  93  SinkBasin       -0.129         0.752          -2.007         0              0              0
  94  StoveKnob       -0.873         0.903          -0.827         45             90             0
  95  StoveKnob       -0.873         0.903          -0.676         45             90             0
  96  StoveKnob       -0.873         0.903          -0.966         45             90             0
  97  StoveKnob       -0.873         0.903          -1.123         45             90             0
  98  Toaster         0.840          0.900          -2.057         0              0              0
  99  CoffeeMachine   0.501          0.900          -2.125         0              0              0
 100  ShelvingUnit    2.760          0.006          0.144          0              0              0
 101  Stool           -0.826         0.010          0.908          0              347.513        0
 102  Stool           -0.132         0.010          0.883          0              71.555         0
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: Turn to the left and go straight back the room. Turn right to face the brown shelf. | STEP 2: Pick up the mug from the shelf. | STEP 3: Carry the mug and turn to the right, then the left to find the fridge. | STEP 4: Open the fridge and place the mug inside, then shut the door. Open the fridge and get the mug out and shut the door. | STEP 5: Hold the mug and go right around the fridge, back to the shelf. | STEP 6: Place the mug on the shelf. | END