Task: place mug with spoon on top of 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           -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: go to the left end of white table with lettuce | STEP 2: pick up spoon from behind lettuce on table | STEP 3: turn right, go to refrigerator | STEP 4: place spoon in white mug in refrigerator | STEP 5: pick up white mug with spoon, close refrigerator | STEP 6: turn around, go to black shelves at end of counter to the right | STEP 7: place mug on top left corner of black shelves | END