Task: Place a chilled coffee cup on the small brown shelf in the corner of the room

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.869          -0.75          0              180            0
   1  Potato          -1.056         0.933          1.272          0              270            0              62
   2  Potato          -1.949         0.832          -3.771         0              0              0              58
   3  Spoon           0.877          0.884          0.029          0              0              0              36
   4  Fork            0.623          0.761          0.002          0              270            0              35
   5  Fork            0.671          0.761          0.002          0              270            0              35
   6  Pot             0.746          0.664          -1.880         0              0              0              56
   7  Pot             -0.252         0.899          0.843          0              270            0              62
   8  Plate           -1.970         0.705          -1.091         0              0              0              72
   9  Bowl            0.721          0.663          0.387          0              0              0              41
  10  Bowl            0.949          1.462          -0.146         0              0              0              47
  11  Lettuce         0.785          1.461          -2.113         0              270            0              56
  12  Apple           -2.054         0.852          -3.705         0              0              0              58
  13  Apple           0.715          0.826          -0.790         0              270            0              59
  14  Pot             -1.552         0.930          0.785          0              0              0              40
  15  Plate           -2.023         0.692          -1.447         0              0              0              72
  16  Fork            0.866          0.761          0.002          0              270            0              35
  17  SoapBottle      0.729          0.882          -0.314         0              0              0              36
  18  Apple           -1.843         0.852          -3.705         0              0              0              58
  19  Pan             -2.097         0.930          1.049          0              0              0              43
  20  Egg             -1.535         0.733          -3.361         0              0              0              63
  21  Spatula         0.817          0.774          -0.061         0              0              0              35
  22  Potato          -0.051         0.933          1.187          0              270            0              62
  23  Cup             0.961          0.664          0.569          0              0              0              41
  24  SaltShaker      0.877          0.879          -0.039         0              0              0              36
  25  PepperShaker    0.842          0.012          -0.506         0              0              0              39
  26  ButterKnife     -1.719         0.701          -1.199         0              0              0              72
  27  DishSponge      0.841          0.772          -0.570         0              270            0              59
  28  Bread           -0.873         0.931          0.978          0              24.231         0              62
  29  Lettuce         0.785          1.245          -1.802         0              270            0              56
  30  Tomato          -1.224         0.100          -3.647         0              270            0              51
  31  Spoon           0.729          0.884          -0.176         0              0              0              36
  32  Knife           -0.051         0.923          1.101          0              270            0              62
  33  Mug             0.661          0.659          0.630          0              0              0              41
  34  Bowl            0.149          0.899          0.843          0              270            0              62
  35  Drawer          0.706          0.766          -0.125         0              0              0
  36  CounterTop      0.792          0.919          -0.108         0              0              0
  37  Mirror          1.093          1.602          -0.643         0              0              0
  38  StoveBurner     -2.096         0.890          0.785          0              0              0
  39  Cabinet         0.507          0.345          -0.426         0              0              0
  40  StoveBurner     -1.552         0.890          0.785          0              0              0
  41  SideTable       0.770          -0.030         0.443          0              0              0
  42  Sink            0.753          0.882          -0.680         0              0              0
  43  StoveBurner     -2.096         0.890          1.049          0              0              0
  44  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  45  StoveBurner     -1.554         0.890          1.049          0              0              0
  46  Cabinet         0.507          0.345          0.156          0              0              0
  47  Cabinet         0.717          1.822          -0.398         0              0              0
  48  Cabinet         0.717          1.822          0.669          0              0              0
  49  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  50  Toaster         -0.522         0.886          1.081          0              180            0
  51  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  52  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  53  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  54  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  55  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  56  Fridge          0.680          -0.031         -1.957         0              0              0
  57  Window          -2.424         1.639          -2.453         90             270            0
  58  Microwave       -1.994         0.690          -3.651         0              0              0
  59  SinkBasin       0.757          0.762          -0.688         0              270            0
  60  LightSwitch     1.102          1.368          -3.737         0              270            0
  61  Shelf           -0.350         0.124          0.857          0              0              0
  62  DiningTable     -0.350         -0.025         0.857          0              0              0
  63  DiningTable     -1.909         -0.032         -3.507         0              0              0
  64  Blinds          -2.343         2.151          -2.437         0              270            0
  65  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  66  AluminumFoil    0.751          0.225          0.287          0              0              0
  67  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  68  Shelf           0.771          0.226          0.445          0              0              0
  69  Shelf           0.771          0.456          0.446          0              0              0
  70  Faucet          1.025          0.873          -0.678         270            180            0
  71  Shelf           -0.350         0.497          0.857          0              0              0
  72  DiningTable     -1.929         -0.035         -1.398         0              90             0
  73  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  74  NorthWall
  75  EastWall
  76  SouthWall
  77  WestWall

Plan:
STEP 1: turn around and go forward to the toaster, then turn right, and go forward to the dark brown shelf | STEP 2: Take the coffee cup from the top of the brown shelf | STEP 3: turn around, then turn left, and cross the room to the refrigerator. Stop and face the refrigerator door. | STEP 4: Open the refrigerator, place the cup on the top shelf next to the pan, and close the door. Wait 7 seconds, then remove the mug from the refrigerator and close the door again. | STEP 5: turn left and cross the room to the brown shelf where the mug had been | STEP 6: return the mug to its original spot on the front left corner of the brown shelf | END