Task: Cool a mug and put it on a wooden shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          -1.75          0              0              0
   1  Pan             -0.036         0.950          -2.576         0              270            0              67
   2  Potato          -2.114         1.339          1.008          0              90             0              97
   3  Potato          -1.852         0.800          -1.242         0              90             0              99
   4  CreditCard      2.100          0.550          -2.718         0              180            0              94
   5  CreditCard      -1.868         0.475          -0.245         0              90             0              79
   6  Plate           -1.755         0.133          -1.740         0              90             0              65
   7  Plate           -0.335         1.108          0.504          0              0              0              64
   8  Cup             1.584          0.878          -2.590         0              180            0              91
   9  Cup             1.686          0.878          -2.617         0              180            0              91
  10  Egg             -1.963         0.804          -1.501         0              90             0              99
  11  Tomato          -1.982         1.348          0.925          0              90             0              97
  12  Tomato          -1.995         0.837          1.003          0              90             0              97
  13  PepperShaker    1.584          0.877          -2.509         0              180            0              91
  14  Lettuce         0.079          1.191          -0.253         0              0              0              64
  15  Lettuce         -2.019         0.991          -0.698         0              0              0              89
  16  Apple           -1.611         0.961          -2.256         0              0              0              89
  17  Knife           0.969          0.936          -2.637         0              90             0              66
  18  Knife           -0.335         1.136          -0.506         0              0              0              64
  19  Fork            0.893          0.482          -2.331         0              0              0              72
  20  Fork            -1.856         0.911          -0.513         0              0              0              89
  21  Mug             -0.122         1.785          -2.482         0              0              0              90
  22  Mug             -1.963         0.764          -1.587         0              0              0              99
  23  Mug             -1.665         0.124          0.112          0              90             0              70
  24  ButterKnife     -0.059         1.111          -0.001         0              0              0              64
  25  ButterKnife     -0.848         0.911          -2.406         0              0              0              89
  26  Glassbottle     -0.473         1.112          0.251          0              0              0              64
  27  DishSponge      -1.694         0.477          -0.293         0              90             0              79
  28  Bowl            -2.040         1.499          0.925          0              90             0              97
  29  Book            0.155          1.1            0.617          0              315            0              64
  30  Glassbottle     -0.059         1.112          -0.759         0              0              0              64
  31  Knife           -1.438         0.936          -2.637         0              90             0              89
  32  Bread           -0.522         1.170          -0.028         0              0              0              64
  33  Fork            0.893          0.777          -2.420         0              0              0              60
  34  Potato          -2.018         0.800          -1.242         0              90             0              99
  35  SoapBottle      1.478          0.554          -2.562         0              180            0              94
  36  Kettle          -0.465         0.950          -2.372         0              90             0              62
  37  Pan             0.721          0.9            -2.415         0              0              0              66
  38  Plate           1.098          0.907          -2.330         0              0              0              66
  39  Tomato          -2.038         0.579          0.920          0              90             0              97
  40  Vase            2.042          0.540          -2.495         0              0              0              94
  41  Egg             -1.999         0.263          1.251          0              90             0              97
  42  CreditCard      1.064          0.642          -2.417         0              0              0              69
  43  Statue          -0.197         1.110          -0.253         0              90             0              64
  44  WineBottle      -2.100         0.912          -2.256         0              0              0              89
  45  Pot             0.450          0.144          -2.387         0              0              0              81
  46  Spatula         -1.856         0.926          -2.475         0              180            0              89
  47  PaperTowelRoll  0.355          1.215          -0.506         0              0              0              64
  48  Cup             -0.122         1.788          -2.610         0              0              0              90
  49  Vase            -0.473         1.109          -0.759         0              0              0              64
  50  Bowl            -1.797         0.766          -1.501         0              90             0              99
  51  SaltShaker      1.993          0.877          -2.617         0              180            0              91
  52  PepperShaker    -1.740         0.150          -0.053         0              90             0              87
  53  Lettuce         0.079          1.191          0.251          0              0              0              64
  54  ButterKnife     -1.908         0.769          -1.328         0              90             0              99
  55  Apple           0.217          1.162          -0.506         0              0              0              64
  56  DishSponge      -1.907         0.047          1.981          0              270            0              95
  57  Spoon           -0.335         1.112          -0.759         0              0              0              64
  58  Mug             -1.852         0.764          -1.673         0              90             0              99
  59  StoveBurner     -0.036         0.915          -2.372         0              0              0
  60  Drawer          0.949          0.832          -2.197         0              0              0
  61  Drawer          -1.560         0.839          0.204          0              90             0
  62  StoveBurner     -0.465         0.915          -2.371         0              180            0
  63  Drawer          -1.560         0.839          -0.197         0              90             0
  64  CounterTop      -0.079         1.147          -0.001         0              0              0
  65  Cabinet         -1.549         0.494          -1.964         0              90             0
  66  CounterTop      0.693          0.946          -2.483         0              0              0
  67  StoveBurner     -0.036         0.915          -2.576         0              0              0
  68  Drawer          0.949          0.393          -2.200         0              0              0
  69  Drawer          0.949          0.708          -2.200         0              0              0
  70  Cabinet         -1.549         0.494          0.379          0              90             0
  71  StoveKnob       -0.022         0.881          -2.187         45             0              0
  72  Drawer          0.949          0.560          -2.201         0              0              0
  73  StoveBurner     -0.465         0.915          -2.575         0              180            0
  74  Window          -2.230         1.429          -1.203         0              0              0
  75  StoveKnob       -0.483         0.881          -2.187         45             0              0
  76  Sink            -1.899         0.964          -1.5           0              90             0
  77  StoveKnob       -0.328         0.881          -2.187         45             0              0
  78  Cabinet         -0.727         2.015          -2.460         0              0              0
  79  Drawer          -1.560         0.655          -0.196         0              90             0
  80  Cabinet         -1.685         2.015          -2.461         0              0              0
  81  Cabinet         0.680          0.494          -2.200         0              0              0
  82  Cabinet         -1.179         0.494          -2.200         0              0              0
  83  Cabinet         -1.849         2.015          0.379          0              90             0
  84  Drawer          0.949          0.221          -2.200         0              0              0
  85  StoveKnob       -0.183         0.881          -2.187         45             0              0
  86  Cabinet         0.719          2.015          -2.460         0              0              0
  87  Drawer          -1.560         0.331          -0.196         0              90             0
  88  Cabinet         0.680          2.015          -2.460         0              0              0
  89  CounterTop      -1.868         0.946          -1.205         0              0              0
  90  Microwave       -0.236         1.689          -2.525         0              0              0
  91  Shelf           1.751          0.880          -2.560         0              0              0
  92  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  93  Toaster         -1.835         0.900          0.134          0              90             0
  94  Shelf           1.750          0.552          -2.559         0              0              0
  95  GarbageCan      -1.935         -0.002         2.029          0              270            0
  96  Shelf           1.750          0.172          -2.559         0              0              0
  97  Fridge          -2.096         0.0            1.088          0              0              0
  98  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  99  SinkBasin       -1.908         0.759          -1.488         0              90             0
 100  LightSwitch     2.329          1.309          -0.159         0              270            0
 101  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 102  Stool           0.702          0.000          -0.514         1.202          65.108         0
 103  Stool           0.743          0.000          0.563          1.227          106.706        0
 104  Faucet          -2.070         1.132          -1.514         0              0              0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Turn to the microwave above the stove | STEP 2: Open the microwave door and take out the mug | STEP 3: Turn right and walk around the counter to the refrigerator | STEP 4: Put the mug on the top shelf to the left of the tomato, close the door then open it and take out the mug | STEP 5: Turn left and walk around the counter to the shelves on the right | STEP 6: Put the mug on the middle shelf in front of the bottle. | END