Task: drop a mug with a spoon on it on the table

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           0.930          0.5            0              0              0
   1  DishSponge      -0.717         0.899          -0.047         0              0              0              74
   2  DishSponge      3.113          1.464          -1.648         0              0              0              65
   3  ButterKnife     1.098          0.908          0.464          0              0              0              98
   4  Glassbottle     2.987          0.748          0.032          0              90             0              112
   5  Kettle          -0.987         0.901          -0.746         0              135            0              67
   6  Pot             0.622          0.908          0.527          0              90             0              98
   7  Spatula         1.229          0.925          0.464          0              0              0              98
   8  Spatula         3.122          0.915          -0.599         0              0              0              66
   9  Spoon           -0.868         0.132          0.839          0              0              0              97
  10  Spoon           -0.187         0.901          -1.445         0              45             0              88
  11  Fork            3.069          0.747          0.032          0              270            0              112
  12  Fork            -0.868         0.327          -0.098         0              0              0              72
  13  CellPhone       -0.058         0.897          -1.779         0              45             0              88
  14  Mug             0.054          0.895          -1.481         0              135            0              88
  15  Lettuce         3.277          0.966          -0.599         0              0              0              66
  16  SaltShaker      -0.056         0.702          -1.424         0              45             0              77
  17  SaltShaker      -1.149         0.896          -0.687         0              45             0              67
  18  Bowl            0.605          0.905          0.218          0              36.810         0              98
  19  Bowl            3.028          0.172          -0.356         0              0              0              78
  20  SoapBottle      3.235          0.110          1.653          0              225            0              108
  21  Tomato          1.242          1.110          -1.531         0              0              0              113
  22  Egg             0.851          0.938          -1.531         0              0              0              113
  23  Egg             -0.830         0.952          -0.699         0              45             0              67
  24  Cup             2.971          0.173          -0.828         0              0              0              79
  25  Cup             -1.052         0.995          1.258          0              90             0              115
  26  Cup             -0.894         1.256          -0.835         0              45             0              86
  27  Knife           0.007          0.925          -1.435         0              135            0              88
  28  Plate           3.102          1.477          -1.235         0              0              0              81
  29  Glassbottle     3.198          0.176          -0.307         0              0              0              78
  30  SoapBottle      0.354          1.268          -1.741         0              0              0              83
  31  Potato          0.773          1.111          -1.559         0              0              0              113
  32  Fork            -0.624         0.900          -0.702         0              45             0              67
  33  Ladle           1.229          0.945          0.889          0              0              0              98
  34  Pot             1.098          0.908          0.180          0              180            0              98
  35  Kettle          -0.420         0.902          -0.920         0              135            0              62
  36  Spatula         -0.950         0.532          1.255          0              90             0              55
  37  Knife           0.710          0.936          0.727          0              0              0              98
  38  Lettuce         0.840          0.765          -1.422         27.470         0              0              113
  39  Cup             1.242          0.883          -1.475         0              0              0              113
  40  SaltShaker      -0.620         0.896          -0.807         0              45             0              67
  41  Egg             -1.119         1.050          1.364          0              90             0              115
  42  PepperShaker    2.888          0.897          -0.499         0              0              0              66
  43  ButterKnife     -0.868         0.130          1.255          0              0              0              91
  44  Apple           -1.080         0.974          0.399          0              0              0              67
  45  Pan             0.341          0.873          -1.649         0              167.065        0              88
  46  Bread           1.534          0.972          0.486          0              289.287        0              98
  47  CellPhone       -0.033         0.897          -1.291         0              45             0              88
  48  DishSponge      0.494          0.899          -1.445         0              0              0              88
  49  Tomato          0.022          0.937          -1.660         0              0              0              88
  50  Spoon           3.028          0.748          0.231          0              180            0              112
  51  Bowl            0.808          1.671          -1.550         0              0              0              82
  52  Mug             -0.186         1.258          -1.548         0              45             0              84
  53  Drawer          0.376          0.572          -1.509         0              0              0
  54  Drawer          3.020          0.769          -0.783         0              180            0
  55  Drawer          -0.860         0.577          1.429          0              0              0
  56  StoveBurner     -0.600         0.897          -1.090         0              135            0
  57  Drawer          0.376          0.191          -1.509         0              0              0
  58  Cabinet         1.402          1.874          -1.259         0              0              0
  59  Cabinet         -0.202         1.963          -1.328         0              0              0
  60  Drawer          -0.860         0.765          1.429          0              0              0
  61  Drawer          -0.677         0.765          -0.700         0              0              0
  62  StoveBurner     -0.420         0.897          -0.920         0              135            0
  63  Drawer          3.020          0.769          -0.407         0              180            0
  64  Drawer          -0.860         0.577          0.663          0              0              0
  65  Cabinet         2.819          1.768          -1.850         0              0              0
  66  CounterTop      3.111          0.936          0.019          0              0              0
  67  CounterTop      -1.007         0.935          -0.039         0              0              0
  68  Drawer          -0.860         0.385          0.663          0              0              0
  69  StoveBurner     -0.419         0.897          -1.269         0              315            0
  70  Drawer          -0.047         0.573          -1.324         0              0              0
  71  Drawer          -0.860         0.765          0.663          0              0              0
  72  Drawer          -0.860         0.385          -0.100         0              0              0
  73  Drawer          0.376          0.380          -1.509         0              0              0
  74  Drawer          -0.860         0.765          -0.100         0              0              0
  75  Drawer          0.376          0.765          -1.509         0              0              0
  76  Cabinet         2.849          0.419          0.409          0              0              0
  77  Drawer          -0.047         0.765          -1.324         0              0              0
  78  Cabinet         2.849          0.419          -0.610         0              0              0
  79  Cabinet         2.849          0.419          -0.959         0              0              0
  80  Cabinet         3.069          1.666          -0.709         0              0              0
  81  Cabinet         2.819          1.768          -1.047         0              0              0
  82  Cabinet         0.620          1.874          -1.259         0              0              0
  83  Cabinet         0.140          1.666          -1.559         0              0              0
  84  Cabinet         -0.189         1.666          -1.340         0              0              0
  85  Cabinet         -0.709         1.963          -0.819         0              0              0
  86  Cabinet         -0.920         1.665          -0.620         0              0              0
  87  Drawer          -0.860         0.190          -0.100         0              0              0
  88  CounterTop      0.133          0.935          -1.457         0              0              0
  89  Drawer          3.020          0.769          0.695          0              180            0
  90  Drawer          -0.677         0.577          -0.700         0              0              0
  91  Drawer          -0.860         0.190          1.429          0              0              0
  92  Drawer          -0.047         0.192          -1.324         0              0              0
  93  Drawer          -0.677         0.193          -0.700         0              0              0
  94  Drawer          -0.860         0.577          -0.100         0              0              0
  95  Sink            3.078          0.887          0.086          0              0              0
  96  StoveBurner     -0.239         0.897          -1.089         0              315            0
  97  Drawer          -0.860         0.190          0.663          0              0              0
  98  CounterTop      1.210          0.937          0.463          0              0              0
  99  Drawer          -0.047         0.381          -1.324         0              0              0
 100  Drawer          -0.677         0.387          -0.700         0              0              0
 101  Mirror          -1.295         1.630          0.045          0              0              0
 102  Drawer          -0.860         0.385          1.429          0              0              0
 103  HousePlant      3.196          0.891          -0.368         0              0              0
 104  StoveKnob       -0.090         0.790          -1.009         270            45             0
 105  StoveKnob       -0.280         0.790          -0.819         270            45             0
 106  StoveKnob       -0.180         0.790          -0.920         270            45             0
 107  StoveKnob       -0.370         0.790          -0.720         270            45             0
 108  GarbageCan      3.137          0.025          1.545          0              225            0
 109  Window          3.703          1.675          0.046          90             90             0
 110  CoffeeMachine   3.214          0.890          0.697          0              270            0
 111  LightSwitch     2.592          1.309          -1.880         0              0              0
 112  SinkBasin       3.069          0.736          0.108          0              90             0
 113  Fridge          1.008          0.029          -1.467         0              0              0
 114  Toaster         -1.035         0.873          -0.396         0              90             0
 115  Microwave       -1.034         0.874          1.428          0              90             0
 116  Faucet          3.305          0.886          0.094          270            180            0
 117  NorthWall
 118  EastWall
 119  SouthWall
 120  WestWall

Plan:
STEP 1: turn around towards the table  | STEP 2: pick up the spoon | STEP 3: turn left towards the shelf | STEP 4: drop the spoon in a mug | STEP 5: pick up the mug from the shelf | STEP 6: turn left and head to the table | STEP 7: drop the mug on the table | END