Task: Putting a cooled 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           -2.75          0.900          0.0            0              180            0
   1  Pan             0.974          0.957          -1.419         0              180            0              72
   2  Vase            0.093          0.115          -1.379         0              0              0              62
   3  Book            -0.888         1.651          -1.712         0              0              0              66
   4  Book            3.689          0.549          1.449          0              270            0              77
   5  ButterKnife     0.289          0.928          -1.718         0              270            0              51
   6  ButterKnife     -0.040         0.928          -1.501         0              270            0              51
   7  Spatula         0.179          0.943          -1.356         0              0              0              51
   8  Pot             -1.627         0.914          -1.265         0              0              0              54
   9  Pot             -0.330         0.710          -1.573         0              270            0              83
  10  Fork            -2.793         0.875          3.565          0              225            0              56
  11  Fork            -2.659         0.879          2.715          0              0              0              56
  12  Spoon           0.709          0.913          -1.776         0              0              0              54
  13  Plate           -3.165         0.878          3.296          0              270            0              56
  14  Plate           -1.612         0.123          -0.991         0              0              0              59
  15  SoapBottle      -2.088         0.120          -1.506         0              0              0              55
  16  Bowl            -1.738         0.910          -0.939         0              0              0              54
  17  Bowl            -2.196         0.872          3.475          0              225            0              56
  18  Bread           -2.490         0.961          3.221          0              270            0              56
  19  Bread           0.571          0.995          -1.674         0              0              0              54
  20  Lettuce         -2.621         0.943          3.498          0              135            0              56
  21  Apple           -2.996         0.933          3.296          0              270            0              56
  22  Book            0.571          0.908          -1.369         0              0              0              54
  23  Fork            0.234          0.929          -1.501         0              270            0              51
  24  Tomato          1.651          0.957          -1.255         0              0              0              74
  25  Egg             -1.568         0.929          -0.469         0              0              0              54
  26  Kettle          -0.833         0.900          -1.757         0              0              0              54
  27  Vase            -2.964         0.875          2.811          0              225            0              56
  28  Cup             0.079          1.570          1.921          0              180            0              79
  29  WineBottle      -3.165         0.875          2.999          0              270            0              56
  30  Plate           1.263          1.765          -1.629         0              0              0              78
  31  Spatula         -2.367         0.893          3.035          0              225            0              56
  32  Potato          -2.881         0.911          3.053          0              0              0              56
  33  Pot             0.974          0.957          -1.688         0              180            0              53
  34  Knife           -1.748         0.739          -0.930         0              90             0              69
  35  SaltShaker      -1.975         0.116          -1.360         0              0              0              55
  36  PepperShaker    -2.013         0.116          -1.799         0              0              0              55
  37  Lettuce         -2.621         0.939          2.945          0              225            0              56
  38  ButterKnife     0.069          0.928          -1.718         0              270            0              51
  39  Bread           0.193          1.655          2.160          0              180            0              79
  40  Vase            0.633          0.117          -1.370         0              0              0              61
  41  DishSponge      1.029          2.156          -1.747         0              0              0              68
  42  Apple           -0.035         1.627          2.100          0              180            0              79
  43  Pan             -1.627         0.911          0.037          0              0              0              54
  44  Spoon           0.069          0.931          -1.718         0              270            0              51
  45  SoapBottle      -0.844         0.193          2.136          0              90             0              84
  46  Mug             -1.961         0.907          0.037          0              0              0              54
  47  Statue          3.743          0.887          1.861          0              270            0              75
  48  Statue          3.668          0.540          1.800          0              0              0              77
  49  Bowl            -2.405         0.876          3.685          0              225            0              56
  50  Cabinet         -2.171         2.009          -1.538         0              0              0
  51  Sink            0.024          0.771          -1.708         0              270            0
  52  Cabinet         1.444          2.259          -1.542         0              0              0
  53  StoveBurner     0.974          0.957          -1.688         0              180            0
  54  CounterTop      -1.866         0.947          -0.614         0              0              0
  55  Cabinet         -2.217         0.373          -1.874         0              0              0
  56  DiningTable     -2.663         0.002          3.208          0              0              0
  57  StoveBurner     1.328          0.957          -1.688         0              180            0
  58  StoveBurner     1.328          0.957          -1.420         0              180            0
  59  Cabinet         -1.478         0.373          -1.235         0              0              0
  60  Cabinet         1.775          0.372          -1.242         0              0              0
  61  Cabinet         0.774          0.372          -1.242         0              0              0
  62  Cabinet         0.375          0.372          -1.242         0              0              0
  63  Cabinet         -0.574         0.372          -1.238         0              0              0
  64  Cabinet         1.775          2.009          -1.542         0              0              0
  65  Cabinet         0.524          2.009          -1.542         0              0              0
  66  Cabinet         -0.714         2.009          -1.542         0              0              0
  67  Cabinet         -1.671         2.009          -1.538         0              0              0
  68  Cabinet         0.854          2.259          -1.542         0              0              0
  69  Drawer          -1.636         0.683          -0.930         0              0              0
  70  Drawer          1.650          0.682          -1.396         0              0              0
  71  Drawer          0.600          0.682          -1.396         0              0              0
  72  StoveBurner     0.974          0.957          -1.419         0              180            0
  73  Drawer          -2.062         0.683          -1.579         0              0              0
  74  CounterTop      1.645          0.945          -1.527         0              0              0
  75  Shelf           3.725          0.880          1.671          0              90             0
  76  LightSwitch     2.830          1.266          -0.748         0              0              0
  77  Shelf           3.726          0.552          1.671          0              90             0
  78  Microwave       1.150          1.655          -1.614         0              0              0
  79  Fridge          -0.035         0.0            2.177          0              180            0
  80  Window          -0.115         1.802          -1.896         90             0              0
  81  Window          -4.009         1.799          0.310          90             90             0
  82  Shelf           3.726          0.172          1.671          0              90             0
  83  SinkBasin       -0.330         0.686          -1.581         0              270            0
  84  GarbageCan      -0.870         -0.001         2.136          0              90             0
  85  StoveKnob       1.089          0.913          -1.243         45             0              0
  86  StoveKnob       1.208          0.913          -1.243         45             0              0
  87  StoveKnob       1.340          0.913          -1.243         45             0              0
  88  StoveKnob       0.961          0.913          -1.243         45             0              0
  89  Toaster         1.637          0.900          -1.673         0              0              0
  90  Chair           -3.505         0.002          3.290          0              105.736        0
  91  CoffeeMachine   -1.111         0.900          -1.726         0              0              0
  92  HousePlant      -2.663         0.835          3.209          0              0              0
  93  Faucet          -0.187         0.922          -1.75          0              311.166        0
  94  ShelvingUnit    3.726          0.006          1.671          0              90             0
  95  Stool           -2.501         -0.000         0.062          1.223          91.243         0
  96  Stool           -2.475         -0.000         -0.802         1.209          69.808         0
  97  Chair           -2.934         0.002          2.437          0              28.531         0
  98  Chair           -1.698         0.002          3.235          0              245.204        0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: Turn to the left and face the counter | STEP 2: Grab the mug off of the counter | STEP 3: Head straight and go to the fridge | STEP 4: Put the mug on the top rack in the fridge and then close the door. Then take out the mug | STEP 5: Turn right and go to the brown shelves | STEP 6: Put the mug on the second shelf | END