Task: place microwaved mug on shelves to the left of counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.900          -3.0           0              270            0
   1  Pan             -0.222         0.961          -2.243         0              0              0              66
   2  Potato          -0.417         1.318          -0.413         0              270            0              77
   3  DishSponge      -0.389         0.080          -2.681         0              0              0              60
   4  ButterKnife     -2.560         0.894          -0.548         0              270            0              84
   5  ButterKnife     -0.237         0.942          -2.960         0              45             0              47
   6  Pot             -0.437         0.961          -1.845         0              180            0              48
   7  Fork            -0.315         0.941          -1.362         0              0              0              65
   8  Spoon           -0.475         0.752          -2.739         0              0              0              52
   9  Spoon           -2.359         0.895          -0.548         0              270            0              84
  10  Spatula         -3.485         0.775          -3.599         0              334.125        0              83
  11  Egg             -3.163         0.935          -0.548         0              270            0              84
  12  Knife           -0.372         0.777          -2.792         0              90             0              52
  13  Knife           -0.394         0.966          -1.538         0              0              0              65
  14  Tomato          -4.122         0.741          -0.430         0              0              0              82
  15  Tomato          -3.364         0.945          -0.633         0              270            0              84
  16  Bowl            -0.136         1.940          -0.713         0              0              0              54
  17  Bowl            -0.324         1.502          -3.498         0              45             0              59
  18  SaltShaker      -0.490         1.500          -3.774         0              45             0              59
  19  PepperShaker    -4.242         0.687          -0.187         0              0              0              82
  20  PepperShaker    -3.316         0.756          -3.517         0              334.125        0              83
  21  Mug             -2.514         0.972          -3.649         0              0              0              73
  22  Mug             -3.163         0.889          -0.633         0              270            0              84
  23  Mug             -3.409         0.755          -2.902         0              199.125        0              83
  24  Apple           -0.245         1.550          -0.994         0              270            0              77
  25  Apple           -0.268         1.636          -1.990         0              270            0              79
  26  SoapBottle      -3.882         0.689          -0.491         0              0              0              82
  27  Pot             -2.560         0.895          -0.290         0              270            0              84
  28  Fork            -4.122         0.691          -0.248         0              90             0              82
  29  Cup             -0.702         0.814          -3.395         0              315            0              76
  30  Tomato          -0.283         1.539          -0.413         0              270            0              77
  31  Pan             -0.217         0.958          -2.215         0              45             0              66
  32  Plate           -0.427         0.096          -1.449         0              0              0              63
  33  Bread           -3.872         0.841          -3.101         0              109.125        0              83
  34  Spatula         -3.364         0.909          -0.290         0              270            0              84
  35  Knife           -1.082         0.967          -3.768         0              135            0              47
  36  SaltShaker      -1.185         0.750          -3.534         0              0              0              53
  37  PepperShaker    -0.495         0.743          -1.450         0              0              0              51
  38  ButterKnife     -2.962         0.894          -0.548         0              270            0              84
  39  Apple           -0.397         1.550          -0.413         0              270            0              77
  40  DishSponge      -0.741         0.080          -3.348         0              45             0              61
  41  Potato          -0.473         0.974          -2.611         0              0              0              47
  42  Egg             -0.397         1.529          -0.762         0              270            0              77
  43  Spoon           -4.182         0.691          -0.248         0              90             0              82
  44  Lettuce         -2.452         0.190          -3.538         0              0              0              72
  45  Mug             -0.397         1.483          -0.529         0              270            0              77
  46  Bowl            -0.173         1.500          -2.612         0              0              0              64
  47  CounterTop      -1.937         0.977          -3.673         0              0              0
  48  StoveBurner     -0.437         0.924          -1.845         0              180            0
  49  StoveBurner     -0.222         0.924          -1.845         0              180            0
  50  StoveBurner     -0.437         0.924          -2.243         0              0              0
  51  Drawer          -0.500         0.779          -1.450         0              0              0
  52  Drawer          -0.481         0.777          -2.739         0              0              0
  53  Drawer          -1.154         0.782          -3.499         0              0              0
  54  Cabinet         -0.337         2.110          -0.390         0              0              0
  55  Cabinet         -0.337         2.110          -1.272         0              0              0
  56  Cabinet         -0.337         2.110          -1.631         0              0              0
  57  Cabinet         -0.337         2.110          -2.497         0              0              0
  58  Cabinet         -0.337         1.891          -1.286         0              0              0
  59  Cabinet         -0.346         1.891          -3.293         0              0              0
  60  Cabinet         -0.629         0.388          -2.513         0              0              0
  61  Cabinet         -0.633         0.388          -3.008         0              0              0
  62  Cabinet         -1.010         0.388          -3.368         0              0              0
  63  Cabinet         -0.629         0.388          -1.614         0              0              0
  64  Cabinet         -0.327         1.886          -2.513         0              0              0
  65  CounterTop      -0.326         0.976          -1.450         0              0              0
  66  StoveBurner     -0.222         0.924          -2.243         0              0              0
  67  Sink            -0.600         0.929          -3.388         0              0              0
  68  StoveKnob       -0.617         0.899          -1.833         315            90             180
  69  StoveKnob       -0.617         0.899          -2.129         315            90             180
  70  StoveKnob       -0.617         0.899          -2.289         315            90             180
  71  StoveKnob       -0.617         0.899          -1.975         315            90             180
  72  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  73  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  74  Window          -1.389         1.610          -4.113         90             0              0
  75  LightSwitch     -4.372         1.493          -1.031         0              90             0
  76  SinkBasin       -0.614         0.802          -3.384         0              315            0
  77  Fridge          -0.314         0.0            -0.646         0              0              0
  78  Toaster         -1.970         0.930          -3.763         0              0              0
  79  Microwave       -0.216         1.470          -2.054         0              270            0
  80  Blinds          -1.373         2.205          -3.961         0              0              0
  81  Faucet          -0.393         0.930          -3.614         270            225            0
  82  SideTable       -4.030         0.002          -0.301         0              185.034        0
  83  DiningTable     -3.586         0.000          -3.258         0              0              0
  84  DiningTable     -3.224         -0.003         -0.453         0              0              0
  85  Shelf           -4.030         0.259          -0.301         0              185.034        0
  86  Shelf           -4.030         0.489          -0.301         0              185.034        0
  87  EastWall
  88  EastWall
  89  SouthWall

Plan:
STEP 1: turn left, face counter with coffee maker | STEP 2: pick up white mug from coffee maker | STEP 3: turn left, go to microwave above stove | STEP 4: place mug on right side of microwave, microwave mug, remove mug from microwave, close microwave | STEP 5: turn around, go to small black shelves at left end of counter to the left | STEP 6: place mug in between dispenser and tomato on black shelves | END