Task: Put a chilled glass on the middle wooden shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          2.25           0              180            0
   1  Pan             1.738          0.913          -1.329         0              90             0              60
   2  Pan             0.294          0.930          1.220          0              270            0              77
   3  Potato          -1.553         1.212          -0.806         0              90             0              68
   4  Potato          0.522          0.956          0.534          0              0              0              77
   5  Ladle           0.180          0.975          0.762          0              180            0              77
   6  Ladle           0.180          0.971          0.305          0              180            0              77
   7  DishSponge      1.913          1.657          -1.117         0              270            0              51
   8  WineBottle      1.738          0.914          -1.797         0              0              0              60
   9  Spoon           0.408          0.928          0.991          0              0              0              77
  10  Plate           1.572          0.123          -1.266         0              270            0              54
  11  Tomato          -1.036         0.965          -2.260         0              0              0              60
  12  Bowl            -0.160         0.923          0.762          0              0              0              77
  13  Lettuce         0.066          1.008          0.991          0              0              0              77
  14  SaltShaker      0.294          0.926          0.991          0              0              0              77
  15  SaltShaker      0.294          0.926          1.448          0              0              0              77
  16  PepperShaker    -0.564         0.909          -2.167         0              0              0              60
  17  PepperShaker    1.259          0.877          2.537          0              0              0              81
  18  Apple           -1.495         1.254          -0.703         0              90             0              68
  19  Potato          0.689          0.942          -1.751         0              0              0              60
  20  Bowl            -0.617         0.108          -1.829         0              0              0              53
  21  SoapBottle      1.919          0.912          -1.446         0              0              0              60
  22  Fork            0.294          0.927          0.534          0              0              0              77
  23  Ladle           0.180          0.975          1.448          0              0              0              77
  24  Bread           0.399          0.964          0.110          0              0              1.601          77
  25  Lettuce         0.066          1.008          0.534          0              0              0              77
  26  WineBottle      1.873          0.881          2.429          0              0              0              81
  27  Spatula         0.522          0.941          1.220          0              90             0              77
  28  Plate           1.773          0.556          2.534          0              0              0              80
  29  SaltShaker      0.066          0.923          0.076          0              0              0              77
  30  Pot             1.567          0.948          -0.757         0              0              0              42
  31  Cup             -0.137         0.764          -2.026         0              0              0              72
  32  PepperShaker    0.408          0.923          0.534          0              0              0              77
  33  Pan             1.824          0.945          -0.346         0              0              0              41
  34  ButterKnife     0.180          0.926          0.991          0              0              0              77
  35  Tomato          -1.380         1.235          -1.013         0              90             0              68
  36  DishSponge      1.850          0.913          -1.918         0              0              0              60
  37  Egg             1.743          0.140          0.044          0              0              0              61
  38  Spoon           0.408          0.928          0.762          0              0              0              77
  39  Knife           -0.047         0.953          0.534          0              90             0              77
  40  Mug             1.566          0.875          2.510          0              0              0              81
  41  StoveBurner     1.845          0.940          -0.355         0              0              0
  42  StoveBurner     1.567          0.940          -0.757         0              0              0
  43  Cabinet         -1.149         2.019          -1.979         0              90             0
  44  Cabinet         -1.149         2.265          -0.834         0              90             0
  45  Cabinet         -0.459         2.265          -2.0           0              0              0
  46  Cabinet         -1.100         2.019          -2.0           0              0              0
  47  Cabinet         1.719          2.019          -2.0           0              0              0
  48  Cabinet         1.179          2.019          -2.0           0              0              0
  49  Cabinet         0.199          2.019          -2.0           0              0              0
  50  Cabinet         1.75           2.019          -1.399         0              270            0
  51  Cabinet         1.75           2.019          -1.029         0              270            0
  52  Cabinet         1.379          0.469          -1.689         0              0              0
  53  Cabinet         -0.819         0.469          -1.689         0              0              0
  54  Cabinet         1.389          0.469          -1.059         0              270            0
  55  Cabinet         -0.839         0.469          -1.665         0              90             0
  56  StoveBurner     1.567          0.940          -0.355         0              0              0
  57  StoveBurner     1.845          0.940          -0.757         0              0              0
  58  Sink            -0.109         0.893          -2.009         0              0              0
  59  Drawer          -0.819         0.75           -1.690         0              0              0
  60  CounterTop      0.232          0.949          -2.002         0              0              0
  61  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  62  Vase            0.251          0.546          0.475          0              270            0
  63  Toaster         0.780          0.900          -2.080         0              0              0
  64  LightSwitch     0.108          1.315          2.75           0              180            0
  65  Vase            0.400          0.925          0.218          0              180            0
  66  Microwave       -1.233         0.900          -1.680         0              90             0
  67  Vase            1.465          1.662          -2.200         0              0              0
  68  Fridge          -1.495         0.0            -0.703         0              0              0
  69  Window          2.114          1.495          1.072          90             270            0
  70  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  71  Vase            0.333          0.546          1.272          0              270            0
  72  SinkBasin       -0.148         0.753          -2.026         0              0              0
  73  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  74  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  75  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  76  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  77  DiningTable     0.170          0.005          0.678          0              270            0
  78  Shelf           0.170          0.155          0.678          0              270            0
  79  Shelf           1.605          0.172          2.480          0              0              0
  80  Shelf           1.605          0.552          2.480          0              0              0
  81  Shelf           1.604          0.880          2.479          0              0              0
  82  ShelvingUnit    1.605          0.006          2.480          0              0              0
  83  Faucet          -0.143         1.028          -2.223         0              270            0
  84  Stool           -0.553         0.000          0.871          1.233          280.376        0
  85  Shelf           0.170          0.528          0.678          0              270            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Head across the kitchen to the sink. | STEP 2: Pick up the glass in the sink. | STEP 3: Bring the glass to the fridge on the right.  | STEP 4: Chill the glass in the fridge.  | STEP 5: Take the chilled glass to the opposite corner of the kitchen to the right by the wooden shelves. | STEP 6: Put the chilled glass on the middle wooden shelf | END