Task: Place a mug with the spoon in it on the kitchen counter

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          -0.5           0              180            0
   1  Ladle           0.408          0.975          0.076          0              0              0              79
   2  DishSponge      1.850          0.913          -2.085         0              0              0              62
   3  ButterKnife     -0.230         0.913          -1.725         0              0              0              62
   4  WineBottle      0.119          0.914          -1.725         0              0              0              62
   5  WineBottle      1.985          1.658          -1.479         0              270            0              52
   6  Egg             1.466          0.967          -1.212         0              0              0              62
   7  Egg             -1.219         1.069          -1.846         0              90             0              68
   8  Cup             -1.572         1.504          -0.495         0              90             0              70
   9  Plate           -0.210         0.767          -2.026         0              0              0              74
  10  Knife           0.294          0.953          1.220          0              0              0              79
  11  SoapBottle      1.557          0.912          -1.095         0              0              0              62
  12  SoapBottle      -1.316         1.658          -1.854         0              90             0              45
  13  Bowl            1.670          0.549          2.431          0              0              0              88
  14  SaltShaker      -0.720         0.909          -2.167         0              0              0              62
  15  SaltShaker      1.359          0.549          2.379          0              0              0              82
  16  PepperShaker    -0.346         0.909          -1.725         0              0              0              62
  17  PepperShaker    -1.109         0.909          -2.115         0              0              0              62
  18  Bread           -1.495         1.228          -0.806         0              90             0              70
  19  Mug             -0.047         0.925          0.991          0              0              0              79
  20  Apple           -1.380         1.254          -0.392         0              90             0              70
  21  Potato          0.008          0.793          -2.026         0              0              0              74
  22  Bowl            0.522          0.927          0.534          0              0              0              79
  23  SoapBottle      1.958          0.085          0.083          0              0              0              63
  24  Fork            0.066          0.931          1.448          0              0              0              79
  25  Ladle           1.403          1.704          -2.162         0              0              0              49
  26  Bread           0.180          0.972          0.534          0              0              0              79
  27  Lettuce         0.457          0.994          -1.918         0              0              0              62
  28  WineBottle      -0.668         0.914          -2.267         0              0              0              62
  29  Spatula         0.408          0.941          1.448          0              0              0              79
  30  Plate           -0.657         0.115          -1.873         0              0              0              55
  31  SaltShaker      0.294          0.923          0.305          0              0              0              79
  32  Pot             1.738          0.911          -1.329         0              0              0              62
  33  Cup             -1.533         1.504          -0.392         0              90             0              70
  34  PepperShaker    1.670          0.549          2.586          0              0              0              88
  35  Pan             1.845          0.948          -0.757         0              0              0              59
  36  ButterKnife     0.408          0.930          0.991          0              0              0              79
  37  Tomato          2.009          0.965          -1.446         0              0              0              62
  38  DishSponge      -0.927         0.913          -2.224         0              0              0              62
  39  Egg             -1.610         1.237          -0.495         0              90             0              70
  40  Spoon           0.522          0.928          0.076          0              0              0              79
  41  Knife           -0.356         0.787          -1.981         0              270            0              74
  42  Mug             0.444          1.653          -2.200         0              0              0              51
  43  StoveBurner     1.845          0.940          -0.355         0              0              0
  44  StoveBurner     1.567          0.940          -0.757         0              0              0
  45  Cabinet         -1.149         2.019          -1.979         0              90             0
  46  Cabinet         -1.149         2.265          -0.834         0              90             0
  47  Cabinet         -0.459         2.265          -2.0           0              0              0
  48  Cabinet         -1.100         2.019          -2.0           0              0              0
  49  Cabinet         1.719          2.019          -2.0           0              0              0
  50  Cabinet         1.179          2.019          -2.0           0              0              0
  51  Cabinet         0.199          2.019          -2.0           0              0              0
  52  Cabinet         1.75           2.019          -1.399         0              270            0
  53  Cabinet         1.75           2.019          -1.029         0              270            0
  54  Cabinet         1.379          0.469          -1.689         0              0              0
  55  Cabinet         -0.819         0.469          -1.689         0              0              0
  56  Cabinet         1.389          0.469          -1.059         0              270            0
  57  Cabinet         -0.839         0.469          -1.665         0              90             0
  58  StoveBurner     1.567          0.940          -0.355         0              0              0
  59  StoveBurner     1.845          0.940          -0.757         0              0              0
  60  Sink            -0.109         0.893          -2.009         0              0              0
  61  Drawer          -0.819         0.75           -1.690         0              0              0
  62  CounterTop      0.232          0.949          -2.002         0              0              0
  63  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  64  Vase            0.251          0.546          0.475          0              270            0
  65  Toaster         0.780          0.900          -2.080         0              0              0
  66  LightSwitch     0.108          1.315          2.75           0              180            0
  67  Vase            0.400          0.925          0.218          0              180            0
  68  Microwave       -1.233         0.900          -1.680         0              90             0
  69  Vase            1.465          1.662          -2.200         0              0              0
  70  Fridge          -1.495         0.0            -0.703         0              0              0
  71  Window          2.114          1.495          1.072          90             270            0
  72  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  73  Vase            0.333          0.546          1.272          0              270            0
  74  SinkBasin       -0.148         0.753          -2.026         0              0              0
  75  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  76  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  77  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  78  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  79  DiningTable     0.170          0.005          0.678          0              270            0
  80  Shelf           0.170          0.155          0.678          0              270            0
  81  Shelf           1.605          0.172          2.480          0              0              0
  82  Shelf           1.605          0.552          2.480          0              0              0
  83  Shelf           1.604          0.880          2.479          0              0              0
  84  ShelvingUnit    1.605          0.006          2.480          0              0              0
  85  Faucet          -0.143         1.028          -2.223         0              270            0
  86  Stool           -0.553         0.000          0.871          1.233          280.376        0
  87  Shelf           0.170          0.528          0.678          0              270            0
  88
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Turn around and then turn to your left to face the table | STEP 2: Pick up a knife off of the table | STEP 3: Turn to your left until you are facing the right cabinet | STEP 4: Open the cabinet and put the knife in a mug | STEP 5: Pick up the mug with the knife in and close the cabinet | STEP 6: Move to your left so you are now facing the toaster | STEP 7: Place the mug with the spoon in it on the kitchen counter | END