Task: Put a mug with a spoon in 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          0.900          -2.0           0              180            0
   1  Fork            -0.554         0.747          -1.488         0              90             0              45
   2  Spoon           -0.325         0.943          -3.048         0              45             0              41
   3  Spoon           -4.062         0.692          -0.187         0              0              0              76
   4  Spoon           -3.942         0.692          -0.308         0              0              0              76
   5  Spatula         -1.471         0.957          -3.829         0              0              0              41
   6  Egg             -4.002         0.732          -0.491         0              0              0              76
   7  Egg             -1.112         0.983          -3.799         0              45             0              41
   8  Plate           -2.359         0.908          -0.204         0              270            0              78
   9  Plate           -2.560         0.908          -0.462         0              270            0              78
  10  Tomato          -0.397         1.539          -0.878         0              270            0              71
  11  Tomato          -0.376         1.337          -0.645         0              270            0              71
  12  Bowl            -4.122         0.688          -0.369         0              0              0              76
  13  Lettuce         -0.321         1.579          -0.413         0              270            0              71
  14  PepperShaker    -4.242         0.687          -0.248         0              0              0              76
  15  PepperShaker    -0.175         1.938          -0.500         0              0              0              48
  16  Mug             -4.182         0.685          -0.126         0              0              0              76
  17  Mug             -2.514         0.972          -3.649         0              0              0              67
  18  Apple           -0.568         0.874          -3.182         0              315            0              70
  19  Apple           -0.201         1.640          -1.884         0              270            0              73
  20  SoapBottle      -0.552         0.939          -1.494         0              0              0              59
  21  Pot             -0.222         0.961          -1.845         0              180            0              43
  22  Fork            -4.037         0.760          -3.522         0              244.125        0              77
  23  Cup             -0.509         0.081          -2.681         0              0              0              54
  24  Tomato          -3.364         0.945          -0.548         0              270            0              78
  25  Pan             -0.222         0.961          -2.243         0              0              0              60
  26  Plate           -0.351         1.517          -3.471         0              45             0              53
  27  Bread           -3.163         0.976          -0.376         0              270            0              78
  28  Spatula         -0.236         0.956          -1.581         0              0              0              59
  29  Knife           -2.761         0.920          -0.204         0              270            0              78
  30  SaltShaker      -3.848         0.756          -3.404         0              199.125        0              77
  31  PepperShaker    -3.560         0.756          -3.143         0              109.125        0              77
  32  ButterKnife     -0.244         0.942          -2.670         0              0              0              41
  33  Apple           -3.565         0.956          -0.462         0              270            0              78
  34  DishSponge      -0.289         0.941          -2.908         0              45             0              41
  35  Potato          -2.962         0.926          -0.204         0              270            0              78
  36  Egg             -3.882         0.732          -0.187         0              0              0              76
  37  Spoon           -3.364         0.895          -0.462         0              0              0              78
  38  Lettuce         -3.364         0.985          -0.290         0              270            0              78
  39  Mug             -1.117         0.076          -3.532         0              0              0              56
  40  Bowl            -2.761         0.892          -0.376         0              270            0              78
  41  CounterTop      -1.937         0.977          -3.673         0              0              0
  42  StoveBurner     -0.437         0.924          -1.845         0              180            0
  43  StoveBurner     -0.222         0.924          -1.845         0              180            0
  44  StoveBurner     -0.437         0.924          -2.243         0              0              0
  45  Drawer          -0.500         0.779          -1.450         0              0              0
  46  Drawer          -0.481         0.777          -2.739         0              0              0
  47  Drawer          -1.154         0.782          -3.499         0              0              0
  48  Cabinet         -0.337         2.110          -0.390         0              0              0
  49  Cabinet         -0.337         2.110          -1.272         0              0              0
  50  Cabinet         -0.337         2.110          -1.631         0              0              0
  51  Cabinet         -0.337         2.110          -2.497         0              0              0
  52  Cabinet         -0.337         1.891          -1.286         0              0              0
  53  Cabinet         -0.346         1.891          -3.293         0              0              0
  54  Cabinet         -0.629         0.388          -2.513         0              0              0
  55  Cabinet         -0.633         0.388          -3.008         0              0              0
  56  Cabinet         -1.010         0.388          -3.368         0              0              0
  57  Cabinet         -0.629         0.388          -1.614         0              0              0
  58  Cabinet         -0.327         1.886          -2.513         0              0              0
  59  CounterTop      -0.326         0.976          -1.450         0              0              0
  60  StoveBurner     -0.222         0.924          -2.243         0              0              0
  61  Sink            -0.600         0.929          -3.388         0              0              0
  62  StoveKnob       -0.617         0.899          -1.833         315            90             180
  63  StoveKnob       -0.617         0.899          -2.129         315            90             180
  64  StoveKnob       -0.617         0.899          -2.289         315            90             180
  65  StoveKnob       -0.617         0.899          -1.975         315            90             180
  66  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  67  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  68  Window          -1.389         1.610          -4.113         90             0              0
  69  LightSwitch     -4.372         1.493          -1.031         0              90             0
  70  SinkBasin       -0.614         0.802          -3.384         0              315            0
  71  Fridge          -0.314         0.0            -0.646         0              0              0
  72  Toaster         -1.970         0.930          -3.763         0              0              0
  73  Microwave       -0.216         1.470          -2.054         0              270            0
  74  Blinds          -1.373         2.205          -3.961         0              0              0
  75  Faucet          -0.393         0.930          -3.614         270            225            0
  76  SideTable       -4.030         0.002          -0.301         0              185.034        0
  77  DiningTable     -3.586         0.000          -3.258         0              0              0
  78  DiningTable     -3.224         -0.003         -0.453         0              0              0
  79  Shelf           -4.030         0.259          -0.301         0              185.034        0
  80  Shelf           -4.030         0.489          -0.301         0              185.034        0
  81  EastWall
  82  EastWall
  83  SouthWall

Plan:
STEP 1: Turn right and walk to the door then turn right and walk to the small black table. | STEP 2: Pick up the spoon that's furthest away from you on the black table. | STEP 3: Put the spoon in the mug that's above the salt on the black table. | STEP 4: Pick up the mug with the spoon in it. | STEP 5: Turn around and take a step to your left and walk to the black table in front of you. | STEP 6: Put the mug on the table near you. | END