Task: Place a mug containing a spoon on a table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.869          -0.5           0              90             0
   1  Potato          0.746          0.698          -1.958         0              270            0              67
   2  DishSponge      0.601          0.664          0.508          0              0              0              52
   3  DishSponge      0.655          0.883          -0.108         0              0              0              47
   4  ButterKnife     0.720          0.759          -0.124         0              0              0              46
   5  Spatula         -1.886         0.716          -1.307         0              180            0              83
   6  Spatula         0.866          0.774          0.002          0              270            0              46
   7  Spoon           0.720          0.760          0.002          0              0              0              46
   8  Fork            0.877          0.884          -0.245         0              0              0              47
   9  Fork            0.623          0.761          -0.124         0              90             0              46
  10  Cup             0.672          0.771          -0.790         0              270            0              70
  11  Knife           0.574          0.783          -0.188         0              90             0              46
  12  Knife           0.841          0.688          0.387          0              0              0              52
  13  Tomato          0.746          0.514          -1.725         0              270            0              67
  14  SoapBottle      -1.056         0.899          1.101          0              270            0              73
  15  SoapBottle      -2.054         0.701          -1.091         0              0              0              83
  16  Bowl            0.858          1.462          -0.207         0              0              0              58
  17  PepperShaker    0.721          0.660          0.569          0              0              0              52
  18  PepperShaker    0.676          0.012          -0.898         0              0              0              50
  19  Bread           -1.056         0.944          0.843          0              270            0              73
  20  Lettuce         0.149          0.987          1.101          0              270            0              73
  21  Lettuce         0.661          0.751          0.387          0              0              0              52
  22  Mug             0.841          0.767          -0.790         0              270            0              70
  23  Apple           -1.297         0.105          -3.574         0              270            0              62
  24  Apple           0.708          0.519          -2.035         0              270            0              67
  25  Pot             -2.071         0.927          0.772          0              266.284        0              49
  26  Plate           0.732          0.019          -0.119         0              0              0              57
  27  Fork            -0.855         0.901          1.015          0              270            0              73
  28  SoapBottle      -1.578         0.699          -3.614         0              0              0              74
  29  Apple           0.669          1.428          -1.880         0              270            0              67
  30  Pan             -1.555         0.930          1.049          0              0              0              56
  31  Egg             0.961          0.702          0.265          0              0              0              52
  32  Spatula         -1.719         0.716          -1.524         0              0              0              83
  33  Potato          0.824          1.407          -1.880         0              270            0              67
  34  Cup             0.669          0.663          -1.725         0              270            0              67
  35  SaltShaker      0.781          0.660          0.448          0              0              0              52
  36  PepperShaker    -1.556         0.692          -3.361         0              0              0              74
  37  ButterKnife     0.950          0.883          0.029          0              0              0              47
  38  DishSponge      -1.578         0.699          -3.445         0              0              0              74
  39  Bread           -0.252         0.944          0.929          0              270            0              73
  40  Lettuce         0.901          0.751          0.569          0              0              0              52
  41  Tomato          -1.556         0.744          -3.782         0              0              0              74
  42  Spoon           0.715          0.773          -0.680         0              270            0              70
  43  Knife           -1.803         0.724          -1.091         0              0              0              83
  44  Mug             0.812          1.458          0.473          0              0              0              59
  45  Bowl            0.746          1.157          -1.958         0              270            0              67
  46  Drawer          0.706          0.766          -0.125         0              0              0
  47  CounterTop      0.792          0.919          -0.108         0              0              0
  48  Mirror          1.093          1.602          -0.643         0              0              0
  49  StoveBurner     -2.096         0.890          0.785          0              0              0
  50  Cabinet         0.507          0.345          -0.426         0              0              0
  51  StoveBurner     -1.552         0.890          0.785          0              0              0
  52  SideTable       0.770          -0.030         0.443          0              0              0
  53  Sink            0.753          0.882          -0.680         0              0              0
  54  StoveBurner     -2.096         0.890          1.049          0              0              0
  55  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  56  StoveBurner     -1.554         0.890          1.049          0              0              0
  57  Cabinet         0.507          0.345          0.156          0              0              0
  58  Cabinet         0.717          1.822          -0.398         0              0              0
  59  Cabinet         0.717          1.822          0.669          0              0              0
  60  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  61  Toaster         -0.522         0.886          1.081          0              180            0
  62  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  63  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  64  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  65  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  66  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  67  Fridge          0.680          -0.031         -1.957         0              0              0
  68  Window          -2.424         1.639          -2.453         90             270            0
  69  Microwave       -1.994         0.690          -3.651         0              0              0
  70  SinkBasin       0.757          0.762          -0.688         0              270            0
  71  LightSwitch     1.102          1.368          -3.737         0              270            0
  72  Shelf           -0.350         0.124          0.857          0              0              0
  73  DiningTable     -0.350         -0.025         0.857          0              0              0
  74  DiningTable     -1.909         -0.032         -3.507         0              0              0
  75  Blinds          -2.343         2.151          -2.437         0              270            0
  76  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  77  AluminumFoil    0.751          0.225          0.287          0              0              0
  78  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  79  Shelf           0.771          0.226          0.445          0              0              0
  80  Shelf           0.771          0.456          0.446          0              0              0
  81  Faucet          1.025          0.873          -0.678         270            180            0
  82  Shelf           -0.350         0.497          0.857          0              0              0
  83  DiningTable     -1.929         -0.035         -1.398         0              90             0
  84  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Turn right, move towards the table against the wall, then turn left and move to the sink. | STEP 2: Pick up the spoon left of the glass from the sink. | STEP 3: Place the spoon in the mug in the corner of the sink to the rear of the glass. | STEP 4: Pick up the mug containing the spoon from the sink. | STEP 5: Turn around, move towards the table, then turn right and move to the table next to the oven. Turn right and face the small table next to the trash bag in the corner of the room. | STEP 6: Place the mug containing the spoon on the corner of the top shelf of the small table to the right of the sponge and in front of the knife. | END