Task: put a chilled cup 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           1.25           0.900          -1.0           0              180            0
   1  Statue          0.217          1.110          -0.001         0              270            0              58
   2  CreditCard      1.478          0.550          -2.511         0              180            0              88
   3  Plate           -2.121         0.537          0.920          0              90             0              91
   4  Cup             -1.586         0.909          -2.253         0              0              0              83
   5  Cup             1.789          0.878          -2.617         0              180            0              85
   6  Cup             0.450          0.138          -2.337         0              0              0              75
   7  Egg             -1.797         0.804          -1.587         0              90             0              93
   8  Egg             -2.121         0.575          1.251          0              90             0              91
   9  Tomato          -2.114         1.345          0.841          0              90             0              91
  10  PepperShaker    0.560          1.656          -2.525         0              0              0              82
  11  PepperShaker    0.840          0.907          -2.560         0              0              0              60
  12  Bread           -0.473         1.184          0.504          0              0              0              58
  13  Bread           0.355          1.184          -0.253         0              0              0              58
  14  Lettuce         -0.059         1.191          -0.001         0              0              0              58
  15  Apple           -1.937         0.961          -0.698         0              0              0              83
  16  Spatula         0.781          0.791          -2.291         0              270            0              54
  17  Spatula         0.582          0.925          -2.253         0              0              0              60
  18  Pot             -0.465         0.950          -2.576         0              90             0              67
  19  ButterKnife     0.840          0.910          -2.637         0              0              0              60
  20  ButterKnife     0.079          1.111          -0.506         0              0              0              58
  21  Kettle          -1.008         0.138          -2.453         0              0              0              76
  22  Kettle          -1.963         0.770          -1.414         0              90             0              93
  23  Book            0.155          1.1            0.617          0              315            0              58
  24  Glassbottle     0.951          1.661          -2.564         0              0              0              80
  25  Knife           -0.059         1.136          -0.506         0              0              0              58
  26  Bread           -0.197         1.184          -0.253         0              0              0              58
  27  Fork            1.008          0.482          -2.380         0              0              0              66
  28  Potato          -0.328         1.820          -2.546         0              0              0              84
  29  SoapBottle      0.783          1.661          -2.600         0              0              0              80
  30  Kettle          -0.036         0.950          -2.576         0              270            0              61
  31  Pan             0.721          0.9            -2.415         0              0              0              60
  32  Plate           -2.081         1.499          0.925          0              90             0              91
  33  Tomato          -1.852         0.808          -1.242         0              90             0              93
  34  Vase            -1.296         0.139          -2.352         0              0              0              76
  35  Egg             -1.742         0.804          -1.328         0              90             0              93
  36  CreditCard      -1.856         0.908          -2.256         0              0              0              83
  37  Statue          1.955          0.168          -2.543         0              0              0              90
  38  WineBottle      -0.995         0.912          -2.637         0              0              0              83
  39  Pot             0.969          0.914          -2.330         0              0              0              60
  40  Spatula         -0.335         1.126          0.757          0              0              0              58
  41  PaperTowelRoll  -2.100         1.015          -2.256         0              0              0              83
  42  Cup             -0.059         1.109          -0.253         0              0              0              58
  43  Vase            -1.856         0.909          -2.036         0              0              0              83
  44  Bowl            -1.774         0.908          -0.884         0              0              0              83
  45  SaltShaker      0.950          0.138          -2.479         0              0              0              78
  46  PepperShaker    -1.615         0.126          0.112          0              90             0              64
  47  Lettuce         -0.335         1.191          -0.506         0              0              0              58
  48  ButterKnife     -0.995         0.911          -2.329         0              0              0              83
  49  Apple           -1.438         0.961          -2.483         0              0              0              83
  50  DishSponge      -0.197         1.111          0.504          0              0              0              58
  51  Spoon           0.324          0.911          -2.560         0              0              0              60
  52  Mug             -1.755         0.131          -1.856         0              90             0              59
  53  StoveBurner     -0.036         0.915          -2.372         0              0              0
  54  Drawer          0.949          0.832          -2.197         0              0              0
  55  Drawer          -1.560         0.839          0.204          0              90             0
  56  StoveBurner     -0.465         0.915          -2.371         0              180            0
  57  Drawer          -1.560         0.839          -0.197         0              90             0
  58  CounterTop      -0.079         1.147          -0.001         0              0              0
  59  Cabinet         -1.549         0.494          -1.964         0              90             0
  60  CounterTop      0.693          0.946          -2.483         0              0              0
  61  StoveBurner     -0.036         0.915          -2.576         0              0              0
  62  Drawer          0.949          0.393          -2.200         0              0              0
  63  Drawer          0.949          0.708          -2.200         0              0              0
  64  Cabinet         -1.549         0.494          0.379          0              90             0
  65  StoveKnob       -0.022         0.881          -2.187         45             0              0
  66  Drawer          0.949          0.560          -2.201         0              0              0
  67  StoveBurner     -0.465         0.915          -2.575         0              180            0
  68  Window          -2.230         1.429          -1.203         0              0              0
  69  StoveKnob       -0.483         0.881          -2.187         45             0              0
  70  Sink            -1.899         0.964          -1.5           0              90             0
  71  StoveKnob       -0.328         0.881          -2.187         45             0              0
  72  Cabinet         -0.727         2.015          -2.460         0              0              0
  73  Drawer          -1.560         0.655          -0.196         0              90             0
  74  Cabinet         -1.685         2.015          -2.461         0              0              0
  75  Cabinet         0.680          0.494          -2.200         0              0              0
  76  Cabinet         -1.179         0.494          -2.200         0              0              0
  77  Cabinet         -1.849         2.015          0.379          0              90             0
  78  Drawer          0.949          0.221          -2.200         0              0              0
  79  StoveKnob       -0.183         0.881          -2.187         45             0              0
  80  Cabinet         0.719          2.015          -2.460         0              0              0
  81  Drawer          -1.560         0.331          -0.196         0              90             0
  82  Cabinet         0.680          2.015          -2.460         0              0              0
  83  CounterTop      -1.868         0.946          -1.205         0              0              0
  84  Microwave       -0.236         1.689          -2.525         0              0              0
  85  Shelf           1.751          0.880          -2.560         0              0              0
  86  HousePlant      -1.948         0.889          -2.520         0              5.334          0
  87  Toaster         -1.835         0.900          0.134          0              90             0
  88  Shelf           1.750          0.552          -2.559         0              0              0
  89  GarbageCan      -1.935         -0.002         2.029          0              270            0
  90  Shelf           1.750          0.172          -2.559         0              0              0
  91  Fridge          -2.096         0.0            1.088          0              0              0
  92  CoffeeMachine   -1.977         0.900          -0.188         0              90             0
  93  SinkBasin       -1.908         0.759          -1.488         0              90             0
  94  LightSwitch     2.329          1.309          -0.159         0              270            0
  95  ShelvingUnit    1.750          0.006          -2.559         0              0              0
  96  Stool           0.702          0.000          -0.514         1.202          65.108         0
  97  Stool           0.743          0.000          0.563          1.227          106.706        0
  98  Faucet          -2.070         1.132          -1.514         0              0              0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: turn right, walk towards sink, turn right, walk a few steps, stop to face the island on the right | STEP 2: pick up the cup that is on the island | STEP 3: turn left, take a few steps, turn left to face the fridge | STEP 4: open fridge, put cup inside, close fridge, open it, take cup out, close fridge | STEP 5: turn left, walk forward, turn left after island, turn right, walk towards brown shelves | STEP 6: put the cup on the bottom shelf | END