Task: Put the chilled cup on the 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           1.75           0.900          0.75           0              270            0
   1  Pan             0.974          0.957          -1.688         0              180            0              60
   2  Vase            0.036          0.115          -1.415         0              0              0              69
   3  Potato          1.263          1.798          -1.562         0              0              0              85
   4  Potato          -2.807         0.911          3.390          0              0              0              63
   5  Book            -1.649         0.714          -1.001         0              90             0              76
   6  DishSponge      0.571          0.911          -1.267         0              0              0              61
   7  DishSponge      1.301          2.155          -1.675         0              0              0              59
   8  Kettle          -1.961         0.913          -0.288         0              0              0              61
   9  WineBottle      -0.923         0.193          2.097          0              90             0              91
  10  Spatula         -2.659         0.889          3.221          0              180            0              63
  11  Spatula         -2.114         0.733          -1.716         0              90             0              80
  12  Pot             0.974          0.957          -1.419         0              180            0              79
  13  Fork            -2.436         0.875          3.728          0              90             0              63
  14  Spoon           -0.292         0.698          -1.468         0              0              0              90
  15  Spoon           -1.516         0.913          0.363          0              0              0              61
  16  Egg             0.079          0.414          1.996          0              180            0              86
  17  Cup             -2.262         0.873          3.140          0              135            0              63
  18  Cup             3.637          0.551          1.553          0              270            0              84
  19  Cup             0.630          1.651          -1.785         0              0              0              72
  20  SoapBottle      -2.405         0.875          2.758          0              135            0              63
  21  SoapBottle      -2.152         0.875          3.221          0              270            0              63
  22  Tomato          -0.263         0.436          1.996          0              180            0              86
  23  Tomato          -0.367         0.755          -1.573         0              270            0              90
  24  Bowl            -2.525         0.872          3.565          0              225            0              63
  25  PepperShaker    1.724          0.906          -1.437         0              0              0              81
  26  Bread           -2.807         0.961          3.728          0              0              0              63
  27  Mug             -0.377         1.567          2.100          0              180            0              86
  28  Apple           -2.659         0.933          2.715          0              0              0              63
  29  Book            -1.649         0.116          -0.841         0              0              0              66
  30  Fork            0.124          0.929          -1.356         0              0              0              58
  31  Tomato          -0.035         0.436          2.025          0              180            0              86
  32  Egg             -1.568         0.929          -0.469         0              0              0              61
  33  Kettle          -0.888         1.655          -1.712         0              0              0              73
  34  Vase            -2.315         0.879          3.355          0              225            0              63
  35  Cup             1.614          0.908          -1.346         0              0              0              81
  36  WineBottle      -2.807         0.879          2.884          0              0              0              63
  37  Plate           -0.149         0.807          2.137          0              180            0              86
  38  Spatula         -2.353         0.889          3.632          0              225            0              63
  39  Potato          0.289          0.965          -1.646         0              270            0              58
  40  Pot             1.328          0.957          -1.420         0              180            0              65
  41  Knife           0.069          0.950          -1.573         0              270            0              58
  42  SaltShaker      3.689          0.877          1.656          0              270            0              82
  43  PepperShaker    1.029          2.153          -1.747         0              0              0              75
  44  Lettuce         -1.654         0.965          -1.051         0              117.902        1.021          61
  45  ButterKnife     -2.996         0.874          3.221          0              270            0              63
  46  Bread           -0.035         1.655          2.040          0              180            0              86
  47  Vase            -1.849         0.913          0.037          0              0              0              61
  48  DishSponge      0.124          0.928          -1.790         0              270            0              58
  49  Apple           -2.490         0.929          3.147          0              270            0              63
  50  Pan             1.328          0.957          -1.688         0              180            0              64
  51  Spoon           1.760          0.911          -1.618         0              90             0              81
  52  SoapBottle      1.631          1.655          -1.747         0              0              0              71
  53  Mug             0.079          0.797          2.251          0              180            0              86
  54  Statue          -3.017         0.881          2.863          0              225            0              63
  55  Statue          -2.072         0.910          -1.591         0              0              0              61
  56  Bowl            -2.196         0.872          2.968          0              135            0              63
  57  Cabinet         -2.171         2.009          -1.538         0              0              0
  58  Sink            0.024          0.771          -1.708         0              270            0
  59  Cabinet         1.444          2.259          -1.542         0              0              0
  60  StoveBurner     0.974          0.957          -1.688         0              180            0
  61  CounterTop      -1.866         0.947          -0.614         0              0              0
  62  Cabinet         -2.217         0.373          -1.874         0              0              0
  63  DiningTable     -2.663         0.002          3.208          0              0              0
  64  StoveBurner     1.328          0.957          -1.688         0              180            0
  65  StoveBurner     1.328          0.957          -1.420         0              180            0
  66  Cabinet         -1.478         0.373          -1.235         0              0              0
  67  Cabinet         1.775          0.372          -1.242         0              0              0
  68  Cabinet         0.774          0.372          -1.242         0              0              0
  69  Cabinet         0.375          0.372          -1.242         0              0              0
  70  Cabinet         -0.574         0.372          -1.238         0              0              0
  71  Cabinet         1.775          2.009          -1.542         0              0              0
  72  Cabinet         0.524          2.009          -1.542         0              0              0
  73  Cabinet         -0.714         2.009          -1.542         0              0              0
  74  Cabinet         -1.671         2.009          -1.538         0              0              0
  75  Cabinet         0.854          2.259          -1.542         0              0              0
  76  Drawer          -1.636         0.683          -0.930         0              0              0
  77  Drawer          1.650          0.682          -1.396         0              0              0
  78  Drawer          0.600          0.682          -1.396         0              0              0
  79  StoveBurner     0.974          0.957          -1.419         0              180            0
  80  Drawer          -2.062         0.683          -1.579         0              0              0
  81  CounterTop      1.645          0.945          -1.527         0              0              0
  82  Shelf           3.725          0.880          1.671          0              90             0
  83  LightSwitch     2.830          1.266          -0.748         0              0              0
  84  Shelf           3.726          0.552          1.671          0              90             0
  85  Microwave       1.150          1.655          -1.614         0              0              0
  86  Fridge          -0.035         0.0            2.177          0              180            0
  87  Window          -0.115         1.802          -1.896         90             0              0
  88  Window          -4.009         1.799          0.310          90             90             0
  89  Shelf           3.726          0.172          1.671          0              90             0
  90  SinkBasin       -0.330         0.686          -1.581         0              270            0
  91  GarbageCan      -0.870         -0.001         2.136          0              90             0
  92  StoveKnob       1.089          0.913          -1.243         45             0              0
  93  StoveKnob       1.208          0.913          -1.243         45             0              0
  94  StoveKnob       1.340          0.913          -1.243         45             0              0
  95  StoveKnob       0.961          0.913          -1.243         45             0              0
  96  Toaster         1.637          0.900          -1.673         0              0              0
  97  Chair           -3.505         0.002          3.290          0              105.736        0
  98  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  99  HousePlant      -2.663         0.835          3.209          0              0              0
 100  Faucet          -0.187         0.922          -1.75          0              311.166        0
 101  ShelvingUnit    3.726          0.006          1.671          0              90             0
 102  Stool           -2.501         -0.000         0.062          1.223          91.243         0
 103  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 104  Chair           -2.934         0.002          2.437          0              28.531         0
 105  Chair           -1.698         0.002          3.235          0              245.204        0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: Turn around and walk up to the wooden shelf | STEP 2: Take the orange cup from the shelf | STEP 3: Turn and walk to the fridge | STEP 4: Place the cup in the fridge then remove it | STEP 5: Turn right and return to the brown shelf | STEP 6: Put the cup on the right side of the shelf under the salt shaker | END