Task: put mug and spoon onto black shelves

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          -2.0           0              90             0
   1  Pan             -0.222         0.961          -2.243         0              0              0              58
   2  Pot             -1.248         0.943          -3.751         0              0              0              39
   3  Fork            -3.565         0.895          -0.376         0              270            0              76
   4  Fork            -3.364         0.895          -0.548         0              270            0              76
   5  Spoon           -3.434         0.761          -3.253         0              109.125        0              75
   6  Spatula         -3.642         0.775          -2.989         0              334.125        0              75
   7  Knife           -4.062         0.716          -0.491         0              0              0              74
   8  Knife           -0.543         0.776          -2.792         0              90             0              44
   9  SoapBottle      -3.975         0.758          -3.396         0              109.125        0              75
  10  SoapBottle      -0.465         0.080          -1.330         0              180            0              55
  11  Tomato          -4.182         0.741          -0.369         0              0              0              74
  12  Bowl            -0.376         1.284          -0.762         0              270            0              69
  13  Bread           -3.496         0.841          -3.433         0              334.125        0              75
  14  Lettuce         -4.080         0.851          -3.227         0              109.125        0              75
  15  SaltShaker      -1.154         0.750          -3.476         0              0              0              45
  16  Apple           -2.560         0.956          -0.204         0              270            0              76
  17  Apple           -3.565         0.956          -0.204         0              270            0              76
  18  SoapBottle      -4.242         0.688          -0.187         0              180            0              74
  19  Pot             -0.222         0.961          -1.845         0              180            0              41
  20  Fork            -3.942         0.691          -0.309         0              0              0              74
  21  Cup             -0.724         0.081          -3.276         0              45             0              54
  22  Tomato          -3.519         0.810          -3.027         0              199.125        0              75
  23  Pan             -0.217         0.958          -2.215         0              45             0              58
  24  Plate           -0.201         1.589          -1.937         0              270            0              71
  25  Bread           -2.359         0.976          -0.204         0              270            0              76
  26  Spatula         -2.962         0.909          -0.376         0              270            0              76
  27  Knife           -3.163         0.920          -0.204         0              270            0              76
  28  SaltShaker      -4.242         0.687          -0.126         0              0              0              74
  29  PepperShaker    -4.002         0.687          -0.430         0              0              0              74
  30  ButterKnife     -0.394         0.941          -1.319         0              0              0              57
  31  Apple           -4.062         0.751          -0.248         0              0              0              74
  32  DishSponge      -0.495         0.746          -1.450         0              0              0              43
  33  Potato          -2.962         0.926          -0.204         0              270            0              76
  34  Egg             -0.376         1.327          -0.878         0              270            0              69
  35  Spoon           -0.473         0.942          -1.494         0              180            0              57
  36  Lettuce         -0.359         1.579          -0.994         0              270            0              69
  37  Mug             -0.252         1.281          -0.413         0              270            0              69
  38  Bowl            -0.293         1.284          -0.994         0              270            0              69
  39  CounterTop      -1.937         0.977          -3.673         0              0              0
  40  StoveBurner     -0.437         0.924          -1.845         0              180            0
  41  StoveBurner     -0.222         0.924          -1.845         0              180            0
  42  StoveBurner     -0.437         0.924          -2.243         0              0              0
  43  Drawer          -0.500         0.779          -1.450         0              0              0
  44  Drawer          -0.481         0.777          -2.739         0              0              0
  45  Drawer          -1.154         0.782          -3.499         0              0              0
  46  Cabinet         -0.337         2.110          -0.390         0              0              0
  47  Cabinet         -0.337         2.110          -1.272         0              0              0
  48  Cabinet         -0.337         2.110          -1.631         0              0              0
  49  Cabinet         -0.337         2.110          -2.497         0              0              0
  50  Cabinet         -0.337         1.891          -1.286         0              0              0
  51  Cabinet         -0.346         1.891          -3.293         0              0              0
  52  Cabinet         -0.629         0.388          -2.513         0              0              0
  53  Cabinet         -0.633         0.388          -3.008         0              0              0
  54  Cabinet         -1.010         0.388          -3.368         0              0              0
  55  Cabinet         -0.629         0.388          -1.614         0              0              0
  56  Cabinet         -0.327         1.886          -2.513         0              0              0
  57  CounterTop      -0.326         0.976          -1.450         0              0              0
  58  StoveBurner     -0.222         0.924          -2.243         0              0              0
  59  Sink            -0.600         0.929          -3.388         0              0              0
  60  StoveKnob       -0.617         0.899          -1.833         315            90             180
  61  StoveKnob       -0.617         0.899          -2.129         315            90             180
  62  StoveKnob       -0.617         0.899          -2.289         315            90             180
  63  StoveKnob       -0.617         0.899          -1.975         315            90             180
  64  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  65  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  66  Window          -1.389         1.610          -4.113         90             0              0
  67  LightSwitch     -4.372         1.493          -1.031         0              90             0
  68  SinkBasin       -0.614         0.802          -3.384         0              315            0
  69  Fridge          -0.314         0.0            -0.646         0              0              0
  70  Toaster         -1.970         0.930          -3.763         0              0              0
  71  Microwave       -0.216         1.470          -2.054         0              270            0
  72  Blinds          -1.373         2.205          -3.961         0              0              0
  73  Faucet          -0.393         0.930          -3.614         270            225            0
  74  SideTable       -4.030         0.002          -0.301         0              185.034        0
  75  DiningTable     -3.586         0.000          -3.258         0              0              0
  76  DiningTable     -3.224         -0.003         -0.453         0              0              0
  77  Shelf           -4.030         0.259          -0.301         0              185.034        0
  78  Shelf           -4.030         0.489          -0.301         0              185.034        0
  79  EastWall
  80  EastWall
  81  SouthWall

Plan:
STEP 1: walk to face counter to the right of the fridge | STEP 2: pick up spoon from the counter | STEP 3: walk left to face fridge | STEP 4: put spoon into mug inside fridge | STEP 5: pick up mug from inside fridge | STEP 6: walk to face black shelves to left of white table | STEP 7: put mug onto black shelves | END