Task: Place a chilled mug on a shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          1.5            0              180            0
   1  Statue          -0.059         1.110          -0.506         0              0              0              65
   2  Statue          -0.335         1.110          -0.253         0              0              0              65
   3  Potato          -0.277         1.820          -2.482         0              0              0              91
   4  CreditCard      -1.697         0.790          -0.351         0              90             0              64
   5  CreditCard      -1.654         0.790          -0.153         0              90             0              64
   6  Plate           -2.121         0.537          0.920          0              90             0              98
   7  Plate           -1.963         0.766          -1.328         0              90             0              100
   8  Cup             2.100          0.550          -2.666         0              180            0              95
   9  Tomato          -1.999         1.542          0.841          0              90             0              98
  10  SoapBottle      -0.197         1.112          -0.759         0              0              0              65
  11  SaltShaker      -1.290         0.907          -2.560         0              0              0              90
  12  SaltShaker      0.393          0.136          -2.239         0              0              0              82
  13  PepperShaker    -1.740         0.150          -0.342         0              90             0              88
  14  Bread           -2.070         1.378          1.260          0              90             0              98
  15  Lettuce         -0.059         1.191          0.251          0              0              0              65
  16  Apple           -1.935         0.098          2.124          0              270            0              96
  17  Apple           0.453          0.961          -2.560         0              0              0              67
  18  Knife           0.453          0.936          -2.407         0              0              0              67
  19  Spoon           0.893          0.316          -2.334         0              0              0              69
  20  Mug             -0.122         1.785          -2.546         0              0              0              91
  21  Mug             -1.797         0.764          -1.414         0              90             0              100
  22  Spatula         -1.797         0.784          -1.760         0              0              0              100
  23  Pot             -0.036         0.950          -2.372         0              270            0              60
  24  Pot             -2.080         0.544          1.168          0              90             0              98
  25  ButterKnife     -1.738         0.478          -0.196         0              90             0              80
  26  ButterKnife     0.582          0.910          -2.330         0              0              0              67
  27  WineBottle      -1.856         0.912          -2.036         0              0              0              90
  28  WineBottle      0.217          1.112          -0.001         0              0              0              65
  29  DishSponge      1.098          0.910          -2.330         0              0              0              67
  30  Book            0.155          1.1            0.617          0              315            0              65
  31  Glassbottle     -1.346         1.659          -2.567         0              0              0              81
  32  Knife           0.355          1.136          -0.506         0              90             0              65
  33  Bread           -1.856         0.983          -0.698         0              0              0              90
  34  Fork            -1.963         0.770          -1.587         0              180            0              100
  35  Potato          0.355          1.142          0.251          0              0              0              65
  36  SoapBottle      -1.935         0.048          1.933          0              270            0              96
  37  Kettle          1.037          0.9            -2.596         0              0              0              67
  38  Pan             -0.465         0.950          -2.372         0              90             0              63
  39  Plate           -0.197         1.108          0.757          0              0              0              65
  40  Tomato          0.324          0.949          -2.330         0              0              0              67
  41  Vase            0.393          0.142          -2.436         0              0              0              82
  42  Egg             -1.797         0.804          -1.242         0              90             0              100
  43  CreditCard      0.893          0.312          -2.286         0              0              0              69
  44  Statue          1.955          0.168          -2.543         0              0              0              97
  45  WineBottle      -1.143         0.912          -2.560         0              0              0              90
  46  Pot             -2.081         1.507          1.092          0              90             0              98
  47  Spatula         -1.826         0.168          -0.245         0              180            0              88
  48  PaperTowelRoll  1.482          0.985          -2.563         0              270            0              92
  49  Cup             -1.615         0.127          0.203          0              90             0              71
  50  Vase            1.893          0.550          -2.562         0              180            0              95
  51  Bowl            -0.473         1.108          -0.506         0              0              0              65
  52  SaltShaker      2.096          0.877          -2.617         0              180            0              92
  53  PepperShaker    -0.059         1.107          -0.001         0              0              0              65
  54  Lettuce         -0.473         1.191          0.504          0              0              0              65
  55  ButterKnife     -0.848         0.911          -2.637         0              0              0              90
  56  Apple           -1.963         0.820          -1.501         0              90             0              100
  57  DishSponge      0.324          0.910          -2.714         0              0              0              67
  58  Spoon           1.008          0.482          -2.380         0              0              0              73
  59  Mug             -1.655         0.131          -1.273         0              90             0              66
  60  StoveBurner     -0.036         0.915          -2.372         0              0              0
  61  Drawer          0.949          0.832          -2.197         0              0              0
  62  Drawer          -1.560         0.839          0.204          0              90             0
  63  StoveBurner     -0.465         0.915          -2.371         0              180            0
  64  Drawer          -1.560         0.839          -0.197         0              90             0
  65  CounterTop      -0.079         1.147          -0.001         0              0              0
  66  Cabinet         -1.549         0.494          -1.964         0              90             0
  67  CounterTop      0.693          0.946          -2.483         0              0              0
  68  StoveBurner     -0.036         0.915          -2.576         0              0              0
  69  Drawer          0.949          0.393          -2.200         0              0              0
  70  Drawer          0.949          0.708          -2.200         0              0              0
  71  Cabinet         -1.549         0.494          0.379          0              90             0
  72  StoveKnob       -0.022         0.881          -2.187         45             0              0
  73  Drawer          0.949          0.560          -2.201         0              0              0
  74  StoveBurner     -0.465         0.915          -2.575         0              180            0
  75  Window          -2.230         1.429          -1.203         0              0              0
  76  StoveKnob       -0.483         0.881          -2.187         45             0              0
  77  Sink            -1.899         0.964          -1.5           0              90             0
  78  StoveKnob       -0.328         0.881          -2.187         45             0              0
  79  Cabinet         -0.727         2.015          -2.460         0              0              0
  80  Drawer          -1.560         0.655          -0.196         0              90             0
  81  Cabinet         -1.685         2.015          -2.461         0              0              0
  82  Cabinet         0.680          0.494          -2.200         0              0              0
  83  Cabinet         -1.179         0.494          -2.200         0              0              0
  84  Cabinet         -1.849         2.015          0.379          0              90             0
  85  Drawer          0.949          0.221          -2.200         0              0              0
  86  StoveKnob       -0.183         0.881          -2.187         45             0              0
  87  Cabinet         0.719          2.015          -2.460         0              0              0
  88  Drawer          -1.560         0.331          -0.196         0              90             0
  89  Cabinet         0.680          2.015          -2.460         0              0              0
  90  CounterTop      -1.868         0.946          -1.205         0              0              0
  91  Microwave       -0.236         1.689          -2.525         0              0              0
  92  Shelf           1.751          0.880          -2.560         0              0              0
  93  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  94  Toaster         -1.835         0.900          0.134          0              90             0
  95  Shelf           1.750          0.552          -2.559         0              0              0
  96  GarbageCan      -1.935         -0.002         2.029          0              270            0
  97  Shelf           1.750          0.172          -2.559         0              0              0
  98  Fridge          -2.096         0.0            1.088          0              0              0
  99  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
 100  SinkBasin       -1.908         0.759          -1.488         0              90             0
 101  LightSwitch     2.329          1.309          -0.159         0              270            0
 102  ShelvingUnit    1.750          0.006          -2.559         0              0              0
 103  Stool           0.702          0.000          -0.514         1.202          65.108         0
 104  Stool           0.743          0.000          0.563          1.227          106.706        0
 105  Faucet          -2.070         1.132          -1.514         0              0              0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: Turn right, hang a left at the fridge and walk to the sink on the right. | STEP 2: Pick up the white mug in front of the plate inside the sink. | STEP 3: Turn right and walk to the white fridge on your left. | STEP 4: Put the mug inside the fridge on the top shelf, chill it for seven seconds, remove it and close the door. | STEP 5: Turn left, hang a left at the counter and turn right at the wall to face the wooden shelves. | STEP 6: Place the chilled mug on the second shelf from the bottom on the right side. | END