Task: Put the chilled mug on the shelf rack

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          0.5            0              0              0
   1  Potato          -0.263         0.425          2.054          0              180            0              83
   2  Potato          -1.961         0.948          -0.939         0              0              0              58
   3  Book            -2.183         0.908          0.037          0              0              0              58
   4  Book            -3.017         0.871          2.863          0              225            0              60
   5  DishSponge      -0.367         0.707          -1.573         0              270            0              87
   6  DishSponge      0.014          0.928          -1.646         0              270            0              55
   7  Kettle          0.974          0.957          -1.419         0              180            0              76
   8  Kettle          1.328          0.957          -1.420         0              180            0              62
   9  WineBottle      -2.088         0.120          -1.726         0              0              0              59
  10  Spatula         -3.122         0.893          3.475          0              135            0              60
  11  Spatula         -1.738         0.927          -0.288         0              0              0              58
  12  Spoon           -0.292         0.698          -1.468         0              0              0              87
  13  Spoon           -2.828         0.875          3.370          0              270            0              60
  14  Knife           0.234          0.950          -1.573         0              270            0              55
  15  Knife           -3.165         0.896          3.296          0              270            0              60
  16  SoapBottle      -0.040         0.929          -1.429         0              270            0              55
  17  Tomato          -0.263         1.191          2.167          0              180            0              83
  18  Bowl            3.637          0.551          1.449          0              270            0              81
  19  Bowl            -2.912         0.876          3.685          0              135            0              60
  20  SaltShaker      1.651          0.906          -1.255         0              0              0              78
  21  SaltShaker      1.622          0.716          -1.344         0              0              0              74
  22  Mug             1.597          1.650          -1.634         0              0              0              68
  23  Mug             -2.436         0.873          3.221          0              0              0              60
  24  Apple           0.193          1.627          2.100          0              180            0              83
  25  Apple           -0.871         0.247          2.174          0              90             0              88
  26  Book            -1.649         0.714          -0.930         0              90             0              73
  27  Fork            -2.659         0.875          3.370          0              270            0              60
  28  Tomato          0.307          0.850          2.251          0              180            0              83
  29  Egg             -1.568         0.929          -0.469         0              0              0              58
  30  Kettle          -1.627         0.913          -1.591         0              0              0              58
  31  Vase            3.671          0.168          1.841          0              0              0              81
  32  Cup             -2.088         0.118          -1.506         0              0              0              59
  33  WineBottle      -2.659         0.875          2.884          0              0              0              60
  34  Plate           -1.944         1.661          -1.674         0              0              0              54
  35  Spatula         -0.942         0.927          -1.471         0              180            0              58
  36  Potato          0.289          0.965          -1.790         0              270            0              55
  37  Pot             -1.602         0.901          -0.172         0              308.119        0              58
  38  Knife           -1.849         0.934          0.037          0              90             0              58
  39  SaltShaker      1.542          0.906          -1.437         0              0              0              78
  40  PepperShaker    -0.833         0.908          -1.776         0              0              0              58
  41  Lettuce         -0.149         0.867          2.137          0              180            0              83
  42  ButterKnife     -0.964         0.900          -1.296         0              29.999         0              58
  43  Bread           -2.315         0.961          3.355          0              225            0              60
  44  Vase            -0.888         1.655          -1.674         0              0              0              70
  45  DishSponge      3.741          0.552          1.656          0              270            0              81
  46  Apple           1.263          1.816          -1.629         0              0              0              82
  47  Pan             1.328          0.957          -1.688         0              180            0              61
  48  Spoon           -2.584         0.875          3.053          0              0              0              60
  49  SoapBottle      -2.196         0.875          3.475          0              225            0              60
  50  Mug             0.700          1.648          -1.639         0              0              0              69
  51  Statue          3.716          0.887          1.861          0              270            0              79
  52  Statue          -2.072         0.910          -1.265         0              0              0              58
  53  Bowl            -2.659         0.872          3.559          0              0              0              60
  54  Cabinet         -2.171         2.009          -1.538         0              0              0
  55  Sink            0.024          0.771          -1.708         0              270            0
  56  Cabinet         1.444          2.259          -1.542         0              0              0
  57  StoveBurner     0.974          0.957          -1.688         0              180            0
  58  CounterTop      -1.866         0.947          -0.614         0              0              0
  59  Cabinet         -2.217         0.373          -1.874         0              0              0
  60  DiningTable     -2.663         0.002          3.208          0              0              0
  61  StoveBurner     1.328          0.957          -1.688         0              180            0
  62  StoveBurner     1.328          0.957          -1.420         0              180            0
  63  Cabinet         -1.478         0.373          -1.235         0              0              0
  64  Cabinet         1.775          0.372          -1.242         0              0              0
  65  Cabinet         0.774          0.372          -1.242         0              0              0
  66  Cabinet         0.375          0.372          -1.242         0              0              0
  67  Cabinet         -0.574         0.372          -1.238         0              0              0
  68  Cabinet         1.775          2.009          -1.542         0              0              0
  69  Cabinet         0.524          2.009          -1.542         0              0              0
  70  Cabinet         -0.714         2.009          -1.542         0              0              0
  71  Cabinet         -1.671         2.009          -1.538         0              0              0
  72  Cabinet         0.854          2.259          -1.542         0              0              0
  73  Drawer          -1.636         0.683          -0.930         0              0              0
  74  Drawer          1.650          0.682          -1.396         0              0              0
  75  Drawer          0.600          0.682          -1.396         0              0              0
  76  StoveBurner     0.974          0.957          -1.419         0              180            0
  77  Drawer          -2.062         0.683          -1.579         0              0              0
  78  CounterTop      1.645          0.945          -1.527         0              0              0
  79  Shelf           3.725          0.880          1.671          0              90             0
  80  LightSwitch     2.830          1.266          -0.748         0              0              0
  81  Shelf           3.726          0.552          1.671          0              90             0
  82  Microwave       1.150          1.655          -1.614         0              0              0
  83  Fridge          -0.035         0.0            2.177          0              180            0
  84  Window          -0.115         1.802          -1.896         90             0              0
  85  Window          -4.009         1.799          0.310          90             90             0
  86  Shelf           3.726          0.172          1.671          0              90             0
  87  SinkBasin       -0.330         0.686          -1.581         0              270            0
  88  GarbageCan      -0.870         -0.001         2.136          0              90             0
  89  StoveKnob       1.089          0.913          -1.243         45             0              0
  90  StoveKnob       1.208          0.913          -1.243         45             0              0
  91  StoveKnob       1.340          0.913          -1.243         45             0              0
  92  StoveKnob       0.961          0.913          -1.243         45             0              0
  93  Toaster         1.637          0.900          -1.673         0              0              0
  94  Chair           -3.505         0.002          3.290          0              105.736        0
  95  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  96  HousePlant      -2.663         0.835          3.209          0              0              0
  97  Faucet          -0.187         0.922          -1.75          0              311.166        0
  98  ShelvingUnit    3.726          0.006          1.671          0              90             0
  99  Stool           -2.501         -0.000         0.062          1.223          91.243         0
 100  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
 101  Chair           -2.934         0.002          2.437          0              28.531         0
 102  Chair           -1.698         0.002          3.235          0              245.204        0
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: Turn right and go to the cabinet beside the microwave | STEP 2: Open the cabinet and pick up the mug then close the cabinet | STEP 3: Turn right then head to the fridge across the room | STEP 4: Open the fridge put in and out the mug then close the fridge | STEP 5:  Turn right cross the room then head to the shelf rack | STEP 6: Put the mug on the second lower rack | END