Task: Put a mug with a spoon in it on a black shelving unit.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.900          -1.25          0              0              0
   1  Potato          -2.962         0.926          -0.290         0              270            0              77
   2  DishSponge      -0.397         0.941          -2.670         0              0              0              40
   3  DishSponge      -3.701         0.759          -3.151         0              244.125        0              76
   4  ButterKnife     -2.761         0.894          -0.204         0              270            0              77
   5  Fork            -3.925         0.760          -3.399         0              244.125        0              76
   6  Spoon           -3.565         0.895          -0.548         0              270            0              77
   7  Spatula         -0.509         0.765          -2.846         0              90             0              45
   8  Spatula         -2.359         0.909          -0.462         0              90             0              77
   9  Egg             -0.134         1.616          -2.043         0              270            0              72
  10  Cup             -2.359         0.895          -0.204         0              270            0              77
  11  Plate           -4.002         0.705          -0.369         0              0              0              75
  12  SoapBottle      -0.394         0.939          -1.538         0              0              0              58
  13  Tomato          -2.560         0.945          -0.548         0              270            0              77
  14  Lettuce         -3.780         0.851          -3.591         0              199.125        0              76
  15  Lettuce         -3.364         0.985          -0.548         0              270            0              77
  16  SaltShaker      -0.549         0.938          -2.788         0              0              0              40
  17  Mug             -0.293         1.281          -0.762         0              270            0              70
  18  Apple           -4.002         0.751          -0.126         0              0              0              75
  19  SoapBottle      -3.316         0.758          -3.517         0              334.125        0              76
  20  Pot             -0.437         0.961          -1.845         0              180            0              41
  21  Fork            -2.560         0.895          -0.462         0              0              0              77
  22  Cup             -0.245         1.489          -0.994         0              270            0              70
  23  Tomato          -4.059         0.810          -3.168         0              109.125        0              76
  24  Pan             -0.217         0.958          -2.215         0              45             0              59
  25  Plate           -0.324         1.517          -3.498         0              45             0              52
  26  Bread           -3.565         0.976          -0.290         0              270            0              77
  27  Spatula         -3.537         0.775          -3.548         0              199.125        0              76
  28  Knife           -3.882         0.716          -0.369         0              90             0              75
  29  SaltShaker      -0.664         0.076          -3.160         0              45             0              54
  30  PepperShaker    -0.097         1.934          -1.108         0              0              0              48
  31  ButterKnife     -3.163         0.894          -0.548         0              270            0              77
  32  Apple           -2.359         0.956          -0.633         0              270            0              77
  33  DishSponge      -0.096         1.502          -1.449         0              0              0              51
  34  Potato          -0.397         1.520          -0.645         0              270            0              70
  35  Egg             -0.321         1.529          -0.297         0              270            0              70
  36  Spoon           -3.364         0.895          -0.376         0              270            0              77
  37  Lettuce         -4.182         0.782          -0.187         0              0              0              75
  38  Mug             -0.134         1.574          -1.937         0              0              0              72
  39  Bowl            -3.786         0.758          -3.331         0              244.125        0              76
  40  CounterTop      -1.937         0.977          -3.673         0              0              0
  41  StoveBurner     -0.437         0.924          -1.845         0              180            0
  42  StoveBurner     -0.222         0.924          -1.845         0              180            0
  43  StoveBurner     -0.437         0.924          -2.243         0              0              0
  44  Drawer          -0.500         0.779          -1.450         0              0              0
  45  Drawer          -0.481         0.777          -2.739         0              0              0
  46  Drawer          -1.154         0.782          -3.499         0              0              0
  47  Cabinet         -0.337         2.110          -0.390         0              0              0
  48  Cabinet         -0.337         2.110          -1.272         0              0              0
  49  Cabinet         -0.337         2.110          -1.631         0              0              0
  50  Cabinet         -0.337         2.110          -2.497         0              0              0
  51  Cabinet         -0.337         1.891          -1.286         0              0              0
  52  Cabinet         -0.346         1.891          -3.293         0              0              0
  53  Cabinet         -0.629         0.388          -2.513         0              0              0
  54  Cabinet         -0.633         0.388          -3.008         0              0              0
  55  Cabinet         -1.010         0.388          -3.368         0              0              0
  56  Cabinet         -0.629         0.388          -1.614         0              0              0
  57  Cabinet         -0.327         1.886          -2.513         0              0              0
  58  CounterTop      -0.326         0.976          -1.450         0              0              0
  59  StoveBurner     -0.222         0.924          -2.243         0              0              0
  60  Sink            -0.600         0.929          -3.388         0              0              0
  61  StoveKnob       -0.617         0.899          -1.833         315            90             180
  62  StoveKnob       -0.617         0.899          -2.129         315            90             180
  63  StoveKnob       -0.617         0.899          -2.289         315            90             180
  64  StoveKnob       -0.617         0.899          -1.975         315            90             180
  65  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  66  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  67  Window          -1.389         1.610          -4.113         90             0              0
  68  LightSwitch     -4.372         1.493          -1.031         0              90             0
  69  SinkBasin       -0.614         0.802          -3.384         0              315            0
  70  Fridge          -0.314         0.0            -0.646         0              0              0
  71  Toaster         -1.970         0.930          -3.763         0              0              0
  72  Microwave       -0.216         1.470          -2.054         0              270            0
  73  Blinds          -1.373         2.205          -3.961         0              0              0
  74  Faucet          -0.393         0.930          -3.614         270            225            0
  75  SideTable       -4.030         0.002          -0.301         0              185.034        0
  76  DiningTable     -3.586         0.000          -3.258         0              0              0
  77  DiningTable     -3.224         -0.003         -0.453         0              0              0
  78  Shelf           -4.030         0.259          -0.301         0              185.034        0
  79  Shelf           -4.030         0.489          -0.301         0              185.034        0
  80  EastWall
  81  EastWall
  82  SouthWall

Plan:
STEP 1: Turn left and walk towards the door, then turn right and walk up to the white table. | STEP 2: Pick up the metal spoon that is closest to the head of lettuce on the table. | STEP 3: Turn right and walk over to the fridge. | STEP 4: Open the fridge and put the spoon in the white mug that is in the fridge. | STEP 5: Pick up the white mug with the spoon in it out of the fridge, then close the door. | STEP 6: Turn right and walk forward, then turn right and walk across the room to the wall, turn right again to face the small black shelving unit in the corner of the room. | STEP 7: Put the mug with the spoon in it on the front left corner of the black shelving unit. | END