Task: Put the mug with spoon on the 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          3.5            0              180            0
   1  Potato          2.599          0.806          4.32           0              0              0              51
   2  Potato          2.537          1.068          -1.762         0              0              0              50
   3  DishSponge      -1.061         1.780          1.975          0              0              0              67
   4  WineBottle      2.599          0.765          4.145          0              0              0              51
   5  Spatula         -0.714         0.831          1.181          0              90             0              107
   6  Spatula         2.706          0.816          0.072          0              90             0              61
   7  Egg             2.100          0.808          3.969          0              270            0              51
   8  Egg             2.228          0.808          4.495          0              0              0              51
   9  Cup             -0.877         1.440          -0.738         0              90             0              94
  10  Knife           -0.782         0.841          1.181          0              180            0              107
  11  SoapBottle      2.506          0.763          3.577          0              329.999        0              51
  12  Bowl            2.726          0.762          3.492          0              329.999        0              51
  13  Bowl            2.859          1.025          1.447          0              136.999        0              50
  14  SaltShaker      2.046          0.760          4.372          0              329.999        0              51
  15  PepperShaker    -0.544         1.023          0.508          0              0              0              53
  16  Bread           2.801          0.832          3.895          0              270            0              51
  17  Bread           -0.544         1.095          2.434          0              0              0              53
  18  Lettuce         2.945          0.822          4.254          0              225            0              51
  19  Lettuce         2.515          0.822          4.007          0              329.999        0              51
  20  Apple           -1.159         1.077          1.427          0              0              0              53
  21  Apple           -0.714         0.866          1.414          0              90             0              107
  22  Pan             2.042          1.017          1.779          0              0              0              50
  23  Glassbottle     2.275          0.765          4.192          0              270            0              51
  24  Knife           2.874          0.828          -1.086         0              270            0              50
  25  SoapBottle      -0.889         0.046          2.316          0              0              0              105
  26  Egg             -1.038         0.121          2.779          0              0              0              105
  27  Fork            1.672          1.027          1.457          0              136.999        0              50
  28  Potato          -0.906         0.828          -0.405         0              90             0              94
  29  Ladle           2.959          1.066          -0.541         0              0              0              50
  30  Tomato          2.959          1.080          -1.151         0              0              0              50
  31  Pot             1.836          1.027          -1.84          0              90             0              48
  32  WineBottle      2.101          0.765          3.747          0              270            0              51
  33  Plate           1.721          2.280          -1.912         0              0              0              66
  34  Spatula         -0.669         1.042          0.323          0              0              0              53
  35  PaperTowelRoll  2.197          1.131          1.946          0              226.999        0              50
  36  Lettuce         -0.947         0.844          -0.627         0              90             0              94
  37  Apple           2.649          1.077          1.252          0              136.999        0              50
  38  SaltShaker      -0.669         1.023          1.943          0              0              0              53
  39  PepperShaker    2.469          0.797          0.606          0              317.0          0              62
  40  ButterKnife     2.975          0.764          4.118          0              270            0              51
  41  Bread           2.376          0.832          3.795          0              0              0              51
  42  Cup             -1.021         1.779          2.369          0              0              0              88
  43  DishSponge      -0.916         0.076          2.811          0              0              0              105
  44  Bowl            -0.968         1.440          -0.184         0              90             0              94
  45  Spoon           -0.920         1.028          0.323          0              0              0              53
  46  Mug             1.895          1.856          -1.809         0              0              0              96
  47  Sink            -0.716         1.023          1.333          0              0              0
  48  StoveBurner     1.835          1.018          -1.840         0              90             0
  49  StoveBurner     2.177          1.018          -1.599         0              0              0
  50  CounterTop      2.812          0.992          0.675          0              0              0
  51  DiningTable     2.419          0.003          3.930          0              0              0
  52  Drawer          -0.643         0.828          0.616          0              0              0
  53  CounterTop      -0.813         1.062          2.188          0              0              0
  54  StoveBurner     2.115          1.018          -1.840         0              270            0
  55  Drawer          -0.643         0.831          1.953          0              0              0
  56  Drawer          -0.643         0.833          2.418          0              0              0
  57  Drawer          1.347          0.836          -1.539         0              0              0
  58  Drawer          2.693          0.833          -1.131         0              0              0
  59  Drawer          2.693          0.833          -0.699         0              0              0
  60  Drawer          2.693          0.833          -0.267         0              0              0
  61  Drawer          2.693          0.833          0.163          0              0              0
  62  Drawer          2.524          0.833          0.720          0              2.000          0
  63  Drawer          2.232          0.833          1.036          0              2.000          0
  64  Drawer          1.936          0.833          1.354          0              2.000          0
  65  Drawer          1.646          0.833          1.670          0              2.000          0
  66  Cabinet         1.504          2.475          -1.710         0              0              0
  67  Cabinet         -0.823         2.220          1.621          0              0              0
  68  Cabinet         -0.823         2.220          0.615          0              0              0
  69  Cabinet         1.136          0.388          -1.355         0              0              0
  70  Cabinet         -0.356         0.383          2.626          0              0              0
  71  Cabinet         2.745          2.220          -1.690         0              0              0
  72  Cabinet         1.882          0.383          1.017          0              0              0
  73  Cabinet         1.307          0.473          1.640          0              0              0
  74  Cabinet         1.892          0.383          1.006          0              0              0
  75  Cabinet         2.467          0.383          0.383          0              0              0
  76  Cabinet         2.466          0.383          -0.475         0              0              0
  77  Cabinet         2.466          0.473          0.371          0              0              0
  78  Cabinet         2.386          2.475          -1.710         0              0              0
  79  Cabinet         -0.356         0.383          1.712          0              0              0
  80  Cabinet         2.745          2.220          0.019          0              0              0
  81  Cabinet         -0.663         2.496          0.157          0              0              0
  82  Cabinet         -0.663         2.496          -0.868         0              0              0
  83  Cabinet         -0.356         0.383          0.269          0              0              0
  84  Cabinet         -0.823         2.220          1.603          0              0              0
  85  Cabinet         -0.662         2.234          0.586          0              0              0
  86  Cabinet         2.745          2.220          -0.843         0              0              0
  87  Cabinet         2.745          2.220          -0.827         0              0              0
  88  Cabinet         -0.823         2.220          2.608          0              0              0
  89  Cabinet         2.732          2.226          -1.709         0              0              0
  90  Cabinet         1.137          2.226          -1.709         0              0              0
  91  Cabinet         2.466          0.383          -0.491         0              0              0
  92  Cabinet         2.466          0.383          -1.339         0              0              0
  93  StoveBurner     1.761          1.018          -1.599         0              0              0
  94  Fridge          -0.908         0.0            -0.405         0              0              0
  95  HousePlant      2.517          1.016          1.822          0              0              0
  96  Microwave       1.939          1.745          -1.826         0              0              0
  97  StoveKnob       2.017          1.041          -1.514         0              180            180
  98  StoveKnob       1.934          1.041          -1.514         0              180            180
  99  StoveKnob       2.017          1.041          -1.589         0              180            180
 100  StoveKnob       1.934          1.041          -1.589         0              180            180
 101  Window          1.756          1.608          4.762          90             0              0
 102  HousePlant      2.171          1.004          2.091          0              0              0
 103  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 104  LightSwitch     -0.099         1.410          -2.066         0              0              0
 105  GarbageCan      -0.951         -0.029         2.826          0              0              0
 106  Toaster         -1.007         1.018          2.238          0              90             0
 107  SinkBasin       -0.714         0.805          1.348          0              90             0
 108  Chair           1.615          0.004          4.310          0              107.976        0
 109  Faucet          -1.120         1.013          1.334          0              90             0
 110  Chair           2.759          0.004          3.086          0              358.967        0
 111
 112  NorthWall
 113  EastWall
 114  SouthWall
 115  WestWall

Plan:
STEP 1: Move forward, turn right to the end of the counter beside the fridge | STEP 2: Pick up the spoon at the counter | STEP 3: Turn around to your left walk forward turn right on the microwave | STEP 4: Open the microwave put the spoon in the mug | STEP 5: Pick up the mug with spoon then close the microwave | STEP 6: Turn right move forward then head to the counter with sink | STEP 7: Put the mug with spoon on the counter beside the bread | END