Task: Place a chilled glass on 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           1.25           0.900          1.75           0              90             0
   1  Potato          -0.064         0.793          -2.116         0              0              0              68
   2  Potato          -1.495         1.212          -0.495         0              90             0              64
   3  Ladle           1.913          1.702          -1.199         0              270            0              47
   4  DishSponge      0.180          0.930          1.448          0              0              0              73
   5  DishSponge      0.180          0.930          1.220          0              0              0              73
   6  Plate           0.180          0.934          0.534          0              0              0              73
   7  Plate           1.850          0.916          -1.918         0              0              0              56
   8  SoapBottle      1.218          0.117          -2.022         0              0              0              48
   9  SoapBottle      -0.668         0.912          -2.167         0              0              0              56
  10  SaltShaker      0.066          0.926          0.076          0              0              0              73
  11  SaltShaker      0.066          0.926          0.991          0              0              0              73
  12  PepperShaker    1.669          0.877          2.537          0              0              0              82
  13  Mug             1.653          1.654          -2.086         0              0              0              43
  14  Apple           1.958          0.157          0.083          0              0              0              57
  15  Potato          -1.610         0.888          -0.910         0              90             0              64
  16  Bowl            0.408          0.923          0.991          0              0              0              73
  17  SoapBottle      0.408          0.929          0.534          0              0              0              73
  18  Fork            0.002          0.914          -1.713         0              0              0              56
  19  Ladle           0.294          0.971          1.448          0              0              0              73
  20  Bread           0.399          0.964          0.110          0              0              1.601          73
  21  Lettuce         -0.160         1.008          0.991          0              0              0              73
  22  WineBottle      -0.160         0.927          1.220          0              0              0              73
  23  Spatula         0.294          0.945          1.220          0              90             0              73
  24  Plate           -1.438         1.187          -0.702         0              90             0              64
  25  SaltShaker      1.669          0.877          2.456          0              0              0              82
  26  Pot             1.567          0.948          -0.355         0              0              0              52
  27  Cup             0.457          0.913          -1.918         0              0              0              56
  28  PepperShaker    -0.047         0.923          0.305          0              0              0              73
  29  Pan             1.845          0.948          -0.757         0              0              0              53
  30  ButterKnife     0.921          0.913          -1.751         0              0              0              56
  31  Tomato          -1.533         1.556          -0.910         0              90             0              64
  32  DishSponge      1.466          0.913          -1.680         0              0              0              56
  33  Egg             -0.772         0.967          -2.200         0              0              0              56
  34  Spoon           0.522          0.931          1.448          0              0              0              73
  35  Knife           1.919          0.936          -1.446         0              0              0              56
  36  Mug             1.873          0.875          2.510          0              0              0              82
  37  StoveBurner     1.845          0.940          -0.355         0              0              0
  38  StoveBurner     1.567          0.940          -0.757         0              0              0
  39  Cabinet         -1.149         2.019          -1.979         0              90             0
  40  Cabinet         -1.149         2.265          -0.834         0              90             0
  41  Cabinet         -0.459         2.265          -2.0           0              0              0
  42  Cabinet         -1.100         2.019          -2.0           0              0              0
  43  Cabinet         1.719          2.019          -2.0           0              0              0
  44  Cabinet         1.179          2.019          -2.0           0              0              0
  45  Cabinet         0.199          2.019          -2.0           0              0              0
  46  Cabinet         1.75           2.019          -1.399         0              270            0
  47  Cabinet         1.75           2.019          -1.029         0              270            0
  48  Cabinet         1.379          0.469          -1.689         0              0              0
  49  Cabinet         -0.819         0.469          -1.689         0              0              0
  50  Cabinet         1.389          0.469          -1.059         0              270            0
  51  Cabinet         -0.839         0.469          -1.665         0              90             0
  52  StoveBurner     1.567          0.940          -0.355         0              0              0
  53  StoveBurner     1.845          0.940          -0.757         0              0              0
  54  Sink            -0.109         0.893          -2.009         0              0              0
  55  Drawer          -0.819         0.75           -1.690         0              0              0
  56  CounterTop      0.232          0.949          -2.002         0              0              0
  57  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  58  Vase            0.251          0.546          0.475          0              270            0
  59  Toaster         0.780          0.900          -2.080         0              0              0
  60  LightSwitch     0.108          1.315          2.75           0              180            0
  61  Vase            0.400          0.925          0.218          0              180            0
  62  Microwave       -1.233         0.900          -1.680         0              90             0
  63  Vase            1.465          1.662          -2.200         0              0              0
  64  Fridge          -1.495         0.0            -0.703         0              0              0
  65  Window          2.114          1.495          1.072          90             270            0
  66  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  67  Vase            0.333          0.546          1.272          0              270            0
  68  SinkBasin       -0.148         0.753          -2.026         0              0              0
  69  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  70  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  71  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  72  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  73  DiningTable     0.170          0.005          0.678          0              270            0
  74  Shelf           0.170          0.155          0.678          0              270            0
  75  Shelf           1.605          0.172          2.480          0              0              0
  76  Shelf           1.605          0.552          2.480          0              0              0
  77  Shelf           1.604          0.880          2.479          0              0              0
  78  ShelvingUnit    1.605          0.006          2.480          0              0              0
  79  Faucet          -0.143         1.028          -2.223         0              270            0
  80  Stool           -0.553         0.000          0.871          1.233          280.376        0
  81  Shelf           0.170          0.528          0.678          0              270            0
  82
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Keep making your way right until you are facing the dishwasher | STEP 2: Pick up the glass from the kitchen counter top | STEP 3: Turn to your right and make your way to the fridge | STEP 4: Put the glass in the fridge for a few seconds and then take it out | STEP 5: Make your way backwards and to your left until you are facing brown shelves | STEP 6: Place the glass on to the shelves | END