Task: Put a mug on a table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.900          -1.25          0              90             0
   1  Potato          -0.201         1.607          -1.884         0              270            0              77
   2  Potato          -1.248         0.974          -3.595         0              0              0              45
   3  DishSponge      -4.122         0.690          -0.248         0              0              0              80
   4  ButterKnife     -1.025         0.942          -3.764         0              45             0              45
   5  Pot             -3.163         0.895          -0.462         0              270            0              82
   6  Fork            -3.925         0.760          -3.399         0              334.125        0              81
   7  Fork            -0.372         0.751          -2.685         0              90             0              50
   8  Spoon           -3.565         0.895          -0.376         0              270            0              82
   9  Plate           -0.359         1.502          -0.646         0              270            0              75
  10  Knife           -2.962         0.920          -0.462         0              270            0              82
  11  SoapBottle      -3.942         0.688          -0.187         0              0              0              80
  12  Tomato          -0.293         1.337          -0.646         0              270            0              75
  13  Bowl            -4.122         0.689          -0.430         0              0              0              80
  14  Bowl            -2.359         0.892          -0.119         0              270            0              82
  15  Bread           -0.473         1.023          -2.729         0              0              0              45
  16  SaltShaker      -0.708         0.076          -3.205         0              45             0              59
  17  PepperShaker    -0.440         0.748          -2.739         0              0              0              50
  18  PepperShaker    -4.002         0.686          -0.491         0              0              0              80
  19  Mug             -0.394         0.936          -1.538         0              0              0              63
  20  Mug             -0.334         1.281          -0.297         0              270            0              75
  21  Mug             -4.062         0.685          -0.126         0              0              0              80
  22  Apple           -0.252         1.348          -0.529         0              270            0              75
  23  Apple           -0.417         1.348          -0.529         0              270            0              75
  24  SoapBottle      -3.882         0.688          -0.491         0              0              0              80
  25  Pot             -0.437         0.961          -1.845         0              180            0              46
  26  Fork            -0.157         0.941          -1.494         0              0              0              63
  27  Cup             -3.731         0.760          -3.444         0              244.125        0              81
  28  Tomato          -3.364         0.945          -0.119         0              270            0              82
  29  Pan             -0.547         0.811          -3.318         0              45             0              74
  30  Plate           -3.474         0.774          -3.765         0              334.125        0              81
  31  Bread           -2.560         0.976          -0.376         0              270            0              82
  32  Spatula         -2.560         0.909          -0.119         0              0              0              82
  33  Knife           -3.767         0.785          -3.269         0              109.125        0              81
  34  SaltShaker      -3.935         0.756          -2.959         0              334.125        0              81
  35  PepperShaker    -0.554         0.743          -1.413         0              0              0              49
  36  ButterKnife     -3.364         0.894          -0.290         0              270            0              82
  37  Apple           -2.354         0.161          -3.538         0              0              0              70
  38  DishSponge      -2.485         0.099          -3.538         0              0              0              70
  39  Potato          -4.242         0.723          -0.369         0              0              0              80
  40  Egg             -0.473         0.982          -1.406         0              0              0              63
  41  Spoon           -4.122         0.692          -0.126         0              0              0              80
  42  Lettuce         -1.100         1.017          -3.623         0              0              0              45
  43  Mug             -2.514         0.972          -3.649         0              0              0              71
  44  Bowl            -4.100         0.758          -3.286         0              109.125        0              81
  45  CounterTop      -1.937         0.977          -3.673         0              0              0
  46  StoveBurner     -0.437         0.924          -1.845         0              180            0
  47  StoveBurner     -0.222         0.924          -1.845         0              180            0
  48  StoveBurner     -0.437         0.924          -2.243         0              0              0
  49  Drawer          -0.500         0.779          -1.450         0              0              0
  50  Drawer          -0.481         0.777          -2.739         0              0              0
  51  Drawer          -1.154         0.782          -3.499         0              0              0
  52  Cabinet         -0.337         2.110          -0.390         0              0              0
  53  Cabinet         -0.337         2.110          -1.272         0              0              0
  54  Cabinet         -0.337         2.110          -1.631         0              0              0
  55  Cabinet         -0.337         2.110          -2.497         0              0              0
  56  Cabinet         -0.337         1.891          -1.286         0              0              0
  57  Cabinet         -0.346         1.891          -3.293         0              0              0
  58  Cabinet         -0.629         0.388          -2.513         0              0              0
  59  Cabinet         -0.633         0.388          -3.008         0              0              0
  60  Cabinet         -1.010         0.388          -3.368         0              0              0
  61  Cabinet         -0.629         0.388          -1.614         0              0              0
  62  Cabinet         -0.327         1.886          -2.513         0              0              0
  63  CounterTop      -0.326         0.976          -1.450         0              0              0
  64  StoveBurner     -0.222         0.924          -2.243         0              0              0
  65  Sink            -0.600         0.929          -3.388         0              0              0
  66  StoveKnob       -0.617         0.899          -1.833         315            90             180
  67  StoveKnob       -0.617         0.899          -2.129         315            90             180
  68  StoveKnob       -0.617         0.899          -2.289         315            90             180
  69  StoveKnob       -0.617         0.899          -1.975         315            90             180
  70  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  71  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  72  Window          -1.389         1.610          -4.113         90             0              0
  73  LightSwitch     -4.372         1.493          -1.031         0              90             0
  74  SinkBasin       -0.614         0.802          -3.384         0              315            0
  75  Fridge          -0.314         0.0            -0.646         0              0              0
  76  Toaster         -1.970         0.930          -3.763         0              0              0
  77  Microwave       -0.216         1.470          -2.054         0              270            0
  78  Blinds          -1.373         2.205          -3.961         0              0              0
  79  Faucet          -0.393         0.930          -3.614         270            225            0
  80  SideTable       -4.030         0.002          -0.301         0              185.034        0
  81  DiningTable     -3.586         0.000          -3.258         0              0              0
  82  DiningTable     -3.224         -0.003         -0.453         0              0              0
  83  Shelf           -4.030         0.259          -0.301         0              185.034        0
  84  Shelf           -4.030         0.489          -0.301         0              185.034        0
  85  EastWall
  86  EastWall
  87  SouthWall

Plan:
STEP 1: Turn around and cross the room and turn to the right to face the small black table. | STEP 2: Pick the white mug up from the small black table. | STEP 3: Turn around and cross the room to stand in front of the larger, round table. | STEP 4: Put the mug down on the table. | END