Task: Put a spoon inside a white mug, place the mug 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           -3.0           0.900          0.25           0              180            0
   1  Potato          -0.550         0.963          0.086          0              0              0              61
   2  Potato          0.688          0.941          -2.308         0              0              0              67
   3  CreditCard      0.874          0.150          -0.729         0              270            0              64
   4  CreditCard      -1.467         0.551          2.822          0              0              0              87
   5  CellPhone       -1.041         0.930          -0.380         0              0              0              61
   6  CellPhone       0.875          0.492          -0.648         0              270            0              65
   7  DishSponge      -0.808         0.780          -0.486         0              90             0              82
   8  ButterKnife     -0.846         0.933          -0.143         0              0              0              61
   9  Glassbottle     1.126          2.208          -1.626         0              270            0              68
  10  Fork            0.773          0.911          0.313          0              0              0              62
  11  Spoon           0.944          0.912          0.139          0              270            0              62
  12  Knife           1.114          0.934          -0.034         0              90             0              62
  13  Egg             -0.587         0.814          -0.745         0              90             0              82
  14  Egg             -0.698         0.971          -1.386         0              0              0              61
  15  Plate           1.082          2.211          -1.408         0              270            0              68
  16  Plate           -1.363         0.557          2.667          0              0              0              87
  17  Tomato          1.026          0.903          1.349          0              270            0              84
  18  Tomato          0.905          1.442          1.254          0              270            0              84
  19  SoapBottle      -1.571         0.882          2.692          0              0              0              88
  20  SoapBottle      1.212          2.208          -1.191         0              270            0              68
  21  PepperShaker    1.240          1.662          -2.097         0              270            0              60
  22  PepperShaker    0.956          0.699          -0.648         0              270            0              59
  23  Lettuce         0.773          0.988          -0.381         0              0              0              62
  24  Lettuce         1.026          0.940          1.158          0              270            0              84
  25  Apple           -0.697         0.830          -0.745         0              90             0              82
  26  Apple           0.859          0.961          -1.879         0              0              0              67
  27  Statue          -1.167         0.936          -0.643         0              0              0              61
  28  Glassbottle     -0.808         0.781          -0.745         0              90             0              82
  29  Bread           -0.779         0.996          0.209          0              258.641        0              61
  30  CreditCard      -1.570         0.551          2.615          0              0              0              87
  31  CellPhone       0.944          0.908          -0.381         0              0              0              62
  32  Potato          -0.808         0.811          -0.400         0              180            0              82
  33  Knife           -1.229         0.957          0.144          0              0              0              61
  34  Fork            -0.753         0.780          -0.659         0              180            0              82
  35  Pan             0.848          0.946          -1.080         0              0              0              55
  36  Lettuce         1.029          0.988          -0.208         0              0              0              62
  37  Plate           1.193          1.669          0.216          0              270            0              69
  38  Apple           -0.960         0.229          0.608          0              180            0              81
  39  Pot             1.077          0.950          -1.504         0              0              0              57
  40  Spatula         0.914          0.168          -0.769         0              0              0              64
  41  PaperTowelRoll  -1.041         1.037          -0.118         0              0              0              61
  42  Tomato          0.844          1.175          1.540          0              270            0              84
  43  Egg             -0.477         0.971          -1.231         0              0              0              61
  44  SaltShaker      -1.363         0.550          2.874          0              0              0              87
  45  PepperShaker    0.793          0.150          -0.690         0              270            0              64
  46  Vase            -1.981         0.881          2.719          0              0              0              88
  47  ButterKnife     -1.229         0.933          -1.167         0              0              0              61
  48  SoapBottle      1.055          1.666          -2.097         0              270            0              60
  49  Vase            -1.985         0.555          2.822          0              0              0              87
  50  Bowl            1.029          0.914          -1.793         0              0              0              67
  51  DishSponge      -0.624         0.933          -0.143         0              0              0              61
  52  Spoon           -0.642         0.777          -0.573         0              0              0              82
  53  Cup             -0.587         0.777          -0.918         0              90             0              82
  54  Mug             0.783          1.129          0.967          0              270            0              84
  55  StoveBurner     0.842          0.919          -1.098         0              0              0
  56  Cabinet         0.648          0.474          0.244          0              270            0
  57  StoveBurner     1.077          0.919          -1.504         0              0              0
  58  StoveBurner     0.842          0.919          -1.504         0              0              0
  59  Drawer          0.637          0.755          -0.649         0              270            0
  60  Cabinet         0.949          2.159          -2.375         0              270            0
  61  CounterTop      -1.238         0.968          -0.643         0              0              0
  62  CounterTop      0.931          0.946          -0.208         0              0              0
  63  StoveBurner     1.077          0.919          -1.098         0              0              0
  64  Drawer          0.637          0.268          -0.649         0              270            0
  65  Drawer          0.637          0.547          -0.649         0              270            0
  66  Cabinet         0.648          0.475          -1.714         0              0              0
  67  CounterTop      0.931          0.946          -2.051         0              0              0
  68  Cabinet         0.948          2.439          -1.780         0              270            0
  69  Cabinet         0.948          2.159          -0.140         0              270            0
  70  Cabinet         0.949          2.159          -0.758         0              270            0
  71  Sink            -0.699         0.927          -0.649         0              0              0
  72  LightSwitch     -2.371         1.218          3.049          0              180            0
  73  StoveKnob       0.673          0.899          -1.373         315            90             180
  74  StoveKnob       0.673          0.899          -1.519         315            90             180
  75  StoveKnob       0.673          0.899          -1.086         315            90             180
  76  StoveKnob       0.673          0.899          -1.237         315            90             180
  77  Toaster         0.984          0.900          0.329          0              270            0
  78  Window          0.014          0.998          -2.640         90             0              0
  79  Window          -2.996         0.998          -2.640         90             0              0
  80  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  81  GarbageCan      -0.946         -0.036         0.575          0              180            0
  82  SinkBasin       -0.698         0.765          -0.647         0              90             0
  83  Microwave       1.042          1.680          -1.295         0              270            0
  84  Fridge          0.966          0.0            1.253          0              0              0
  85  HousePlant      -1.354         0.919          -1.540         0              0              0
  86  Shelf           -1.635         0.172          2.715          0              180            0
  87  Shelf           -1.635         0.552          2.715          0              180            0
  88  Shelf           -1.635         0.880          2.715          0              180            0
  89  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  90  Chair           -1.832         0.002          -0.034         0              119.999        0
  91  Chair           -1.854         0.002          -0.956         0              67.887         0
  92  Faucet          -0.867         1.161          -0.651         0              0              0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Turn around, head in to the kitchen | STEP 2: Stand in front of the counter next to the fridge | STEP 3: Take the spoon from the counter | STEP 4: Go to the fridge, open the door | STEP 5: Put the spoon inside the white mug inside the fridge | STEP 6: Take the white mug out of the fridge, close the door | STEP 7: Turn right, walk in to kitchen, put the white mug on the counter | END