Task: Put a mug with a spoon in it 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           1.0            0.900          0.25           0              180            0
   1  Pan             1.836          1.027          -1.84          0              90             0              48
   2  Pan             -0.544         1.027          2.434          0              0              0              53
   3  Potato          -1.013         1.484          -0.073         0              90             0              94
   4  Potato          2.302          0.806          3.62           0              0              0              51
   5  ButterKnife     2.976          0.764          4.044          0              270            0              51
   6  Glassbottle     -0.875         0.077          2.779          0              0              0              105
   7  Glassbottle     1.230          1.027          -1.987         0              90             0              50
   8  Cup             2.553          0.763          4.387          0              225            0              51
   9  Cup             -0.906         0.784          -0.516         0              90             0              94
  10  Plate           -0.715         0.046          1.837          0              0              0              79
  11  Plate           2.726          0.764          3.492          0              329.999        0              51
  12  Knife           2.276          0.789          3.969          0              270            0              51
  13  Tomato          -1.028         0.839          -0.295         0              90             0              94
  14  Bowl            2.945          0.762          4.254          0              225            0              51
  15  Bowl            2.893          0.031          -0.638         0              0              0              76
  16  SaltShaker      -1.102         1.023          1.243          0              0              0              53
  17  SaltShaker      1.864          0.798          1.162          0              317.0          0              63
  18  Bread           2.626          0.832          3.821          0              270            0              51
  19  Bread           2.275          0.832          4.118          0              270            0              51
  20  Mug             -0.645         0.811          1.570          0              180            0              107
  21  Apple           -0.851         0.866          1.492          0              90             0              107
  22  Pan             2.754          1.026          1.350          0              136.999        0              50
  23  Glassbottle     2.046          0.765          4.372          0              329.999        0              51
  24  Knife           2.008          0.789          3.632          0              225            0              51
  25  SoapBottle      3.062          0.031          -0.740         0              0              0              91
  26  Egg             2.228          0.808          3.445          0              0              0              51
  27  Fork            1.707          0.801          1.728          0              317.0          0              65
  28  Potato          -0.418         1.069          0.416          0              0              0              53
  29  Ladle           2.451          0.803          4.495          0              0              0              51
  30  Tomato          2.525          0.818          3.62           0              0              0              51
  31  Pot             2.116          1.027          -1.84          0              270            0              54
  32  WineBottle      2.599          0.765          3.97           0              0              0              51
  33  Plate           1.290          1.027          -1.560         0              90             0              50
  34  Spatula         1.979          0.816          1.331          0              47.0           0              64
  35  PaperTowelRoll  2.086          0.868          3.815          0              225            0              51
  36  Lettuce         2.870          1.072          -0.430         7.171          0              355.881        50
  37  Apple           1.895          1.911          -1.843         0              0              0              96
  38  SaltShaker      -0.717         2.286          0.032          0              0              0              81
  39  PepperShaker    2.873          0.797          0.026          0              0              0              60
  40  ButterKnife     2.599          0.764          3.445          0              0              0              51
  41  Bread           2.626          0.832          4.118          0              270            0              51
  42  Cup             -0.577         0.815          1.337          0              90             0              107
  43  DishSponge      1.987          1.026          1.750          0              136.999        0              50
  44  Bowl            1.301          1.779          -1.872         0              0              0              90
  45  Spoon           -0.418         1.028          0.692          0              0              0              53
  46  Mug             2.053          1.856          -1.775         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: Turn around and walk forward, then turn left and walk over to the counter with the coffee machine on it. | STEP 2: Pick up the metal spoon off of the counter. | STEP 3: Walk over to the stove and look up at the microwave. | STEP 4: Open the microwave and put the spoon inside the mug that is in the microwave. | STEP 5: Take out the mug with the spoon in it and close the microwave. | STEP 6: Walk over to the counter to the right of the sink. | STEP 7: Put the mug with the spoon in it down on the front of the counter to the left of the metal pan. | END