Task: Put a spoon in a mug on a counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          1.75           0              90             0
   1  Pan             1.026          1.132          1.349          0              90             0              82
   2  Vase            1.101          1.667          -1.961         0              270            0              58
   3  CreditCard      0.915          0.492          -0.648         0              270            0              63
   4  CreditCard      -1.985         0.551          2.770          0              0              0              85
   5  CellPhone       -0.846         0.930          -1.231         0              0              0              59
   6  CellPhone       0.875          0.700          -0.690         0              270            0              57
   7  ButterKnife     -0.772         0.933          0.086          0              0              0              59
   8  Fork            0.875          0.702          -0.524         0              0              0              57
   9  Spoon           0.944          0.912          -0.729         0              0              0              60
  10  Spoon           1.114          0.912          -0.555         0              0              0              60
  11  Spatula         1.029          0.926          -0.381         0              0              0              60
  12  Knife           0.773          0.934          -0.208         0              180            0              60
  13  Knife           0.944          0.934          -0.034         0              0              0              60
  14  Egg             1.060          1.833          -1.339         0              270            0              81
  15  Cup             1.256          2.205          -1.082         0              270            0              66
  16  Plate           1.102          1.669          -0.401         0              270            0              68
  17  Tomato          0.905          1.683          1.254          0              270            0              82
  18  Tomato          0.688          0.952          -1.965         0              0              0              65
  19  SoapBottle      0.859          0.911          -1.793         0              0              0              65
  20  Bowl            1.101          1.669          0.025          0              270            0              67
  21  PepperShaker    -1.674         0.878          2.665          0              0              0              86
  22  Lettuce         0.773          0.988          0.139          0              0              0              60
  23  Lettuce         0.905          1.479          1.349          0              270            0              82
  24  Bread           -0.624         1.014          -1.231         0              0              0              59
  25  Statue          -1.816         0.871          2.754          0              180            0              59
  26  Glassbottle     1.199          0.912          0.139          0              0              0              60
  27  Bread           1.029          0.992          -0.034         0              0              0              60
  28  CreditCard      0.773          0.908          -1.793         0              0              0              65
  29  CellPhone       1.199          0.908          -0.729         0              0              0              60
  30  Potato          -0.808         0.811          -0.659         0              90             0              80
  31  Knife           -0.698         0.957          0.315          0              0              0              59
  32  Fork            1.114          0.911          -0.381         0              180            0              60
  33  Pan             0.848          0.946          -1.080         0              0              0              53
  34  Lettuce         0.688          0.988          -0.381         0              0              0              60
  35  Plate           0.966          1.405          1.063          0              270            0              82
  36  Apple           0.844          1.693          0.967          0              270            0              82
  37  Pot             1.077          0.950          -1.504         0              0              0              55
  38  Spatula         -1.229         0.948          -1.167         0              0              0              59
  39  PaperTowelRoll  0.944          1.015          0.139          0              90             0              60
  40  Tomato          -0.587         0.821          -0.573         0              90             0              80
  41  Egg             -0.818         0.214          0.641          0              180            0              79
  42  SaltShaker      0.753          0.150          -0.729         0              270            0              62
  43  PepperShaker    0.875          0.491          -0.731         0              270            0              63
  44  Vase            1.126          2.207          -1.517         0              270            0              66
  45  ButterKnife     -1.325         0.919          -0.884         0              10.678         0              59
  46  SoapBottle      -0.960         0.177          0.543          0              180            0              79
  47  Vase            1.082          2.209          -1.299         0              270            0              66
  48  Bowl            0.910          0.111          -1.972         0              0              0              64
  49  DishSponge      0.859          0.910          -0.555         0              0              0              60
  50  Spoon           0.773          0.912          -1.965         0              90             0              65
  51  Cup             -0.808         0.777          -0.745         0              90             0              80
  52  Mug             -1.469         0.876          2.719          0              0              0              86
  53  StoveBurner     0.842          0.919          -1.098         0              0              0
  54  Cabinet         0.648          0.474          0.244          0              270            0
  55  StoveBurner     1.077          0.919          -1.504         0              0              0
  56  StoveBurner     0.842          0.919          -1.504         0              0              0
  57  Drawer          0.637          0.755          -0.649         0              270            0
  58  Cabinet         0.949          2.159          -2.375         0              270            0
  59  CounterTop      -1.238         0.968          -0.643         0              0              0
  60  CounterTop      0.931          0.946          -0.208         0              0              0
  61  StoveBurner     1.077          0.919          -1.098         0              0              0
  62  Drawer          0.637          0.268          -0.649         0              270            0
  63  Drawer          0.637          0.547          -0.649         0              270            0
  64  Cabinet         0.648          0.475          -1.714         0              0              0
  65  CounterTop      0.931          0.946          -2.051         0              0              0
  66  Cabinet         0.948          2.439          -1.780         0              270            0
  67  Cabinet         0.948          2.159          -0.140         0              270            0
  68  Cabinet         0.949          2.159          -0.758         0              270            0
  69  Sink            -0.699         0.927          -0.649         0              0              0
  70  LightSwitch     -2.371         1.218          3.049          0              180            0
  71  StoveKnob       0.673          0.899          -1.373         315            90             180
  72  StoveKnob       0.673          0.899          -1.519         315            90             180
  73  StoveKnob       0.673          0.899          -1.086         315            90             180
  74  StoveKnob       0.673          0.899          -1.237         315            90             180
  75  Toaster         0.984          0.900          0.329          0              270            0
  76  Window          0.014          0.998          -2.640         90             0              0
  77  Window          -2.996         0.998          -2.640         90             0              0
  78  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  79  GarbageCan      -0.946         -0.036         0.575          0              180            0
  80  SinkBasin       -0.698         0.765          -0.647         0              90             0
  81  Microwave       1.042          1.680          -1.295         0              270            0
  82  Fridge          0.966          0.0            1.253          0              0              0
  83  HousePlant      -1.354         0.919          -1.540         0              0              0
  84  Shelf           -1.635         0.172          2.715          0              180            0
  85  Shelf           -1.635         0.552          2.715          0              180            0
  86  Shelf           -1.635         0.880          2.715          0              180            0
  87  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  88  Chair           -1.832         0.002          -0.034         0              119.999        0
  89  Chair           -1.854         0.002          -0.956         0              67.887         0
  90  Faucet          -0.867         1.161          -0.651         0              0              0
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: Turn right and go forward to the counter to the left of the stove. | STEP 2: Take the left spoon that is on the counter. | STEP 3: Turn left and go forward and to the brown shelf on the wall straight ahead. | STEP 4: Place the spoon in the white mug on the shelf. | STEP 5: Pick up the mug off the shelf. | STEP 6: Turn right and go to the counter left of the stove. | STEP 7: Place the mug on the counter under the spoon. | END