Task: Place a mug with a spoon in it on top of a shelving unit.

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           0.869          0.25           0              90             0
   1  Pan             -1.552         0.930          0.785          0              0              0              46
   2  Potato          0.635          0.213          -2.190         0              270            0              Floor|+01.10|
   3  DishSponge      -1.260         0.051          -3.647         0              270            0              57
   4  DishSponge      0.961          0.664          0.448          0              0              0              47
   5  ButterKnife     -0.855         0.900          0.843          0              270            0              68
   6  ButterKnife     -1.803         0.701          -1.199         0              0              0              78
   7  Spoon           0.715          0.773          -0.570         0              270            0              65
   8  Fork            0.149          0.901          1.187          0              270            0              68
   9  Fork            -0.252         0.901          0.843          0              270            0              68
  10  Egg             -1.535         0.733          -3.614         0              0              0              69
  11  Egg             0.841          0.809          -0.735         0              270            0              65
  12  Knife           0.877          0.906          0.098          0              0              0              42
  13  Tomato          -1.635         0.750          -1.307         0              0              0              78
  14  PepperShaker    0.661          0.661          0.630          0              0              0              47
  15  SaltShaker      0.812          1.460          0.411          0              0              0              54
  16  SaltShaker      0.767          1.460          0.288          0              0              0              54
  17  Mug             0.715          0.767          -0.790         0              270            0              65
  18  Mug             0.746          0.460          -1.725         0              270            0              62
  19  Apple           0.961          0.718          0.569          0              0              0              47
  20  Pot             -2.097         0.930          0.785          0              0              0              44
  21  Plate           -2.024         0.692          -1.447         0              0              0              78
  22  Fork            0.866          0.760          0.002          0              270            0              41
  23  SoapBottle      0.676          0.014          -0.702         0              0              0              45
  24  Apple           -2.002         0.852          -3.771         0              0              0              64
  25  Pan             0.746          1.157          -1.802         0              0              0              62
  26  Egg             -1.297         0.088          -3.501         0              270            0              57
  27  Spatula         -0.855         0.915          1.101          0              270            0              68
  28  Potato          0.781          0.697          0.265          0              0              0              47
  29  Cup             0.785          0.663          -1.802         0              270            0              62
  30  SaltShaker      0.994          1.460          0.473          0              0              0              54
  31  PepperShaker    0.903          1.460          -0.207         0              0              0              53
  32  ButterKnife     0.671          0.759          -0.124         0              0              0              41
  33  DishSponge      0.858          1.463          -0.022         0              0              0              53
  34  Bread           -0.051         0.944          0.929          0              270            0              68
  35  Lettuce         -1.084         0.973          0.955          41.443         1.761          3.081          68
  36  Tomato          0.785          0.514          -2.190         0              270            0              62
  37  Spoon           0.901          0.665          0.630          0              0              0              47
  38  Knife           -1.717         0.715          -1.416         0              0              354.478        78
  39  Mug             0.746          1.153          -2.190         0              270            0              62
  40  Bowl            0.781          0.663          0.448          0              0              0              47
  41  Drawer          0.706          0.766          -0.125         0              0              0
  42  CounterTop      0.792          0.919          -0.108         0              0              0
  43  Mirror          1.093          1.602          -0.643         0              0              0
  44  StoveBurner     -2.096         0.890          0.785          0              0              0
  45  Cabinet         0.507          0.345          -0.426         0              0              0
  46  StoveBurner     -1.552         0.890          0.785          0              0              0
  47  SideTable       0.770          -0.030         0.443          0              0              0
  48  Sink            0.753          0.882          -0.680         0              0              0
  49  StoveBurner     -2.096         0.890          1.049          0              0              0
  50  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  51  StoveBurner     -1.554         0.890          1.049          0              0              0
  52  Cabinet         0.507          0.345          0.156          0              0              0
  53  Cabinet         0.717          1.822          -0.398         0              0              0
  54  Cabinet         0.717          1.822          0.669          0              0              0
  55  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  56  Toaster         -0.522         0.886          1.081          0              180            0
  57  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  58  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  59  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  60  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  61  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  62  Fridge          0.680          -0.031         -1.957         0              0              0
  63  Window          -2.424         1.639          -2.453         90             270            0
  64  Microwave       -1.994         0.690          -3.651         0              0              0
  65  SinkBasin       0.757          0.762          -0.688         0              270            0
  66  LightSwitch     1.102          1.368          -3.737         0              270            0
  67  Shelf           -0.350         0.124          0.857          0              0              0
  68  DiningTable     -0.350         -0.025         0.857          0              0              0
  69  DiningTable     -1.909         -0.032         -3.507         0              0              0
  70  Blinds          -2.343         2.151          -2.437         0              270            0
  71  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  72  AluminumFoil    0.751          0.225          0.287          0              0              0
  73  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  74  Shelf           0.771          0.226          0.445          0              0              0
  75  Shelf           0.771          0.456          0.446          0              0              0
  76  Faucet          1.025          0.873          -0.678         270            180            0
  77  Shelf           -0.350         0.497          0.857          0              0              0
  78  DiningTable     -1.929         -0.035         -1.398         0              90             0
  79  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn right and begin walking across the room, then hang a left and walk up to the sink. | STEP 2: Pick up the metal spoon that is in the sink. | STEP 3: Turn right and take a step forward, then turn left to face the sink. | STEP 4: Place the metal spoon handle down inside the mug that is in the sink. | STEP 5: Pick up the mug with the metal spoon in it. | STEP 6: Turn around and begin walking forward, then hang a right and continue straight, turn right at the table and face the black shelving unit. | STEP 7: Place the mug with the metal spoon in it on top of the metal shelving unit behind the sweet potato. | END