Task: Put the cup from the table onto 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           -0.25          0.900          1.0            0              0              0
   1  Pan             1.328          0.957          -1.688         0              180            0              58
   2  Pan             1.328          0.957          -1.420         0              180            0              59
   3  Potato          -2.898         0.911          2.983          0              225            0              57
   4  ButterKnife     -2.996         0.878          3.147          0              270            0              57
   5  WineBottle      -0.403         0.122          -1.373         0              0              0              64
   6  WineBottle      3.743          0.881          1.656          0              270            0              76
   7  Spatula         0.179          0.943          -1.356         0              0              0              52
   8  Spatula         -2.434         0.889          3.236          0              45             0              57
   9  Pot             0.974          0.957          -1.419         0              180            0              73
  10  Fork            -1.269         0.912          -1.572         0              0              0              55
  11  Egg             0.307          1.169          2.286          0              180            0              80
  12  Knife           -2.510         0.900          2.884          0              0              0              57
  13  Tomato          -3.017         0.925          3.580          0              135            0              57
  14  Tomato          1.651          0.957          -1.346         0              0              0              75
  15  Bowl            0.663          0.910          -1.369         0              0              0              55
  16  Bowl            3.637          0.551          1.553          0              270            0              78
  17  SaltShaker      -2.828         0.874          3.073          0              270            0              57
  18  PepperShaker    -2.584         0.871          3.559          0              0              0              57
  19  PepperShaker    -2.434         0.874          3.207          0              135            0              57
  20  Mug             -2.659         0.869          3.390          0              0              0              57
  21  Apple           -0.149         1.199          2.127          0              180            0              80
  22  Apple           -0.844         0.247          2.136          0              90             0              85
  23  Book            0.093          0.111          -1.415         0              0              0              63
  24  Fork            -2.584         0.879          3.728          0              0              0              57
  25  Tomato          -0.263         1.619          2.040          0              180            0              80
  26  Egg             -0.263         0.828          2.194          0              180            0              80
  27  Kettle          -0.833         0.900          -1.757         0              0              0              55
  28  Vase            -0.237         0.122          -1.452         0              0              0              64
  29  Cup             -2.436         0.873          3.053          0              0              0              57
  30  WineBottle      1.597          1.656          -1.672         0              0              0              65
  31  Plate           0.234          0.932          -1.718         0              270            0              52
  32  Spatula         -1.982         0.734          -1.716         0              90             0              74
  33  Potato          -2.807         0.915          3.390          0              0              0              57
  34  Pot             0.079          0.805          2.137          0              180            0              80
  35  Knife           -1.649         0.739          -1.073         0              90             0              70
  36  SaltShaker      0.560          0.714          -1.343         0              0              0              72
  37  PepperShaker    -3.069         0.871          2.916          0              225            0              57
  38  Lettuce         -3.165         0.943          3.221          0              270            0              57
  39  ButterKnife     -2.072         0.912          0.363          0              0              0              55
  40  Bread           -1.849         0.995          -0.614         0              0              0              55
  41  Vase            -0.943         1.655          -1.712         0              0              0              67
  42  DishSponge      -2.554         0.878          3.116          0              225            0              57
  43  Apple           -0.330         0.752          -1.678         0              270            0              84
  44  Pan             -1.961         0.911          -0.288         0              0              0              55
  45  Spoon           -2.315         0.875          3.088          0              135            0              57
  46  SoapBottle      3.743          0.881          1.963          0              270            0              76
  47  Mug             -1.112         0.958          -1.479         0              0              0              92
  48  Statue          3.676          0.168          1.410          0              334.521        0              78
  49  Statue          3.668          0.540          1.800          0              0              0              78
  50  Bowl            -2.912         0.872          2.758          0              225            0              57
  51  Cabinet         -2.171         2.009          -1.538         0              0              0
  52  Sink            0.024          0.771          -1.708         0              270            0
  53  Cabinet         1.444          2.259          -1.542         0              0              0
  54  StoveBurner     0.974          0.957          -1.688         0              180            0
  55  CounterTop      -1.866         0.947          -0.614         0              0              0
  56  Cabinet         -2.217         0.373          -1.874         0              0              0
  57  DiningTable     -2.663         0.002          3.208          0              0              0
  58  StoveBurner     1.328          0.957          -1.688         0              180            0
  59  StoveBurner     1.328          0.957          -1.420         0              180            0
  60  Cabinet         -1.478         0.373          -1.235         0              0              0
  61  Cabinet         1.775          0.372          -1.242         0              0              0
  62  Cabinet         0.774          0.372          -1.242         0              0              0
  63  Cabinet         0.375          0.372          -1.242         0              0              0
  64  Cabinet         -0.574         0.372          -1.238         0              0              0
  65  Cabinet         1.775          2.009          -1.542         0              0              0
  66  Cabinet         0.524          2.009          -1.542         0              0              0
  67  Cabinet         -0.714         2.009          -1.542         0              0              0
  68  Cabinet         -1.671         2.009          -1.538         0              0              0
  69  Cabinet         0.854          2.259          -1.542         0              0              0
  70  Drawer          -1.636         0.683          -0.930         0              0              0
  71  Drawer          1.650          0.682          -1.396         0              0              0
  72  Drawer          0.600          0.682          -1.396         0              0              0
  73  StoveBurner     0.974          0.957          -1.419         0              180            0
  74  Drawer          -2.062         0.683          -1.579         0              0              0
  75  CounterTop      1.645          0.945          -1.527         0              0              0
  76  Shelf           3.725          0.880          1.671          0              90             0
  77  LightSwitch     2.830          1.266          -0.748         0              0              0
  78  Shelf           3.726          0.552          1.671          0              90             0
  79  Microwave       1.150          1.655          -1.614         0              0              0
  80  Fridge          -0.035         0.0            2.177          0              180            0
  81  Window          -0.115         1.802          -1.896         90             0              0
  82  Window          -4.009         1.799          0.310          90             90             0
  83  Shelf           3.726          0.172          1.671          0              90             0
  84  SinkBasin       -0.330         0.686          -1.581         0              270            0
  85  GarbageCan      -0.870         -0.001         2.136          0              90             0
  86  StoveKnob       1.089          0.913          -1.243         45             0              0
  87  StoveKnob       1.208          0.913          -1.243         45             0              0
  88  StoveKnob       1.340          0.913          -1.243         45             0              0
  89  StoveKnob       0.961          0.913          -1.243         45             0              0
  90  Toaster         1.637          0.900          -1.673         0              0              0
  91  Chair           -3.505         0.002          3.290          0              105.736        0
  92  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  93  HousePlant      -2.663         0.835          3.209          0              0              0
  94  Faucet          -0.187         0.922          -1.75          0              311.166        0
  95  ShelvingUnit    3.726          0.006          1.671          0              90             0
  96  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  97  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  98  Chair           -2.934         0.002          2.437          0              28.531         0
  99  Chair           -1.698         0.002          3.235          0              245.204        0
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Turn to your left and go to the dining table. | STEP 2: Pick up the gold cup from the table. | STEP 3: Turn around and go back to the fridge. | STEP 4: Put the cup in the fridge and then take it out again. | STEP 5: Turn to your right and go to the shelf. | STEP 6: Put the cup on the middle shelf. | END