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           0.0            0.900          -2.25          0              180            0
   1  Pan             1.077          0.950          -1.098         0              0              0              56
   2  Statue          -1.104         0.936          -0.118         0              0              0              54
   3  Vase            1.193          1.667          0.280          0              270            0              62
   4  CellPhone       -0.698         0.930          -0.143         0              90             0              54
   5  CellPhone       -0.477         0.930          -0.067         0              0              0              54
   6  ButterKnife     0.944          0.911          -0.729         0              0              0              55
   7  ButterKnife     0.773          0.911          -0.729         0              0              0              55
   8  Spatula         1.114          0.926          -0.208         0              0              0              55
   9  Spatula         0.915          0.718          -0.607         0              0              0              52
  10  Knife           -0.697         0.803          -0.745         0              90             0              75
  11  Egg             -0.697         0.818          -0.918         0              90             0              75
  12  Cup             -0.808         0.773          -0.486         0              90             0              75
  13  SoapBottle      0.688          0.911          -2.051         0              0              0              60
  14  SaltShaker      0.833          0.150          -0.571         0              270            0              57
  15  SaltShaker      0.944          0.907          -1.879         0              0              0              60
  16  Lettuce         1.114          0.988          -0.381         0              0              0              55
  17  Bread           0.944          0.992          0.139          0              0              0              55
  18  Mug             1.026          1.129          1.158          0              270            0              77
  19  Apple           -1.007         0.227          0.510          0              180            0              74
  20  Statue          -1.571         0.884          2.719          0              0              0              54
  21  Glassbottle     1.212          2.208          -1.408         0              270            0              61
  22  Bread           0.905          0.944          1.254          0              270            0              77
  23  CreditCard      1.199          0.908          -0.208         0              0              0              55
  24  CellPhone       -0.920         0.930          0.009          0              0              0              54
  25  Potato          0.944          0.941          -0.555         0              0              0              55
  26  Knife           -0.772         0.957          0.162          0              0              0              54
  27  Fork            -0.698         0.934          -1.540         0              0              0              54
  28  Pan             0.966          1.640          1.444          0              0              0              77
  29  Lettuce         -1.355         1.010          -0.905         0              0              0              54
  30  Plate           -1.570         0.557          2.667          0              0              0              80
  31  Apple           0.773          0.961          -0.555         0              0              0              55
  32  Pot             0.842          0.950          -1.504         0              0              0              51
  33  Spatula         0.773          0.926          -1.793         0              270            0              60
  34  PaperTowelRoll  -0.865         0.281          0.543          0              180            0              74
  35  Tomato          -1.229         0.974          -0.380         0              0              0              54
  36  Egg             1.093          1.833          -1.132         0              270            0              76
  37  SaltShaker      1.199          0.907          -0.729         0              0              0              55
  38  PepperShaker    0.944          0.907          -1.793         0              0              0              60
  39  Vase            1.082          2.207          -0.973         0              270            0              61
  40  ButterKnife     1.114          0.911          -0.208         0              90             0              55
  41  SoapBottle      1.199          0.911          -1.793         0              0              0              60
  42  Vase            0.861          0.109          -2.212         0              0              0              59
  43  Bowl            1.101          1.669          -2.234         0              270            0              53
  44  DishSponge      -0.960         0.176          0.608          0              180            0              74
  45  Spoon           0.859          0.912          -0.555         0              0              0              55
  46  Cup             1.126          1.792          -1.339         0              270            0              76
  47  Mug             0.844          1.396          1.349          0              270            0              77
  48  StoveBurner     0.842          0.919          -1.098         0              0              0
  49  Cabinet         0.648          0.474          0.244          0              270            0
  50  StoveBurner     1.077          0.919          -1.504         0              0              0
  51  StoveBurner     0.842          0.919          -1.504         0              0              0
  52  Drawer          0.637          0.755          -0.649         0              270            0
  53  Cabinet         0.949          2.159          -2.375         0              270            0
  54  CounterTop      -1.238         0.968          -0.643         0              0              0
  55  CounterTop      0.931          0.946          -0.208         0              0              0
  56  StoveBurner     1.077          0.919          -1.098         0              0              0
  57  Drawer          0.637          0.268          -0.649         0              270            0
  58  Drawer          0.637          0.547          -0.649         0              270            0
  59  Cabinet         0.648          0.475          -1.714         0              0              0
  60  CounterTop      0.931          0.946          -2.051         0              0              0
  61  Cabinet         0.948          2.439          -1.780         0              270            0
  62  Cabinet         0.948          2.159          -0.140         0              270            0
  63  Cabinet         0.949          2.159          -0.758         0              270            0
  64  Sink            -0.699         0.927          -0.649         0              0              0
  65  LightSwitch     -2.371         1.218          3.049          0              180            0
  66  StoveKnob       0.673          0.899          -1.373         315            90             180
  67  StoveKnob       0.673          0.899          -1.519         315            90             180
  68  StoveKnob       0.673          0.899          -1.086         315            90             180
  69  StoveKnob       0.673          0.899          -1.237         315            90             180
  70  Toaster         0.984          0.900          0.329          0              270            0
  71  Window          0.014          0.998          -2.640         90             0              0
  72  Window          -2.996         0.998          -2.640         90             0              0
  73  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  74  GarbageCan      -0.946         -0.036         0.575          0              180            0
  75  SinkBasin       -0.698         0.765          -0.647         0              90             0
  76  Microwave       1.042          1.680          -1.295         0              270            0
  77  Fridge          0.966          0.0            1.253          0              0              0
  78  HousePlant      -1.354         0.919          -1.540         0              0              0
  79  Shelf           -1.635         0.172          2.715          0              180            0
  80  Shelf           -1.635         0.552          2.715          0              180            0
  81  Shelf           -1.635         0.880          2.715          0              180            0
  82  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  83  Chair           -1.832         0.002          -0.034         0              119.999        0
  84  Chair           -1.854         0.002          -0.956         0              67.887         0
  85  Faucet          -0.867         1.161          -0.651         0              0              0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn around, go straight, then turn right to face the counter, to the right of the oven. | STEP 2: Pick up the spoon on the counter, to the left of the butter knives. | STEP 3: Turn left and go to the fridge ahead of you. | STEP 4: Put the spoon in the mug, on the top shelf of the fridge. | STEP 5: Pick up the mug with the spoon in it. | STEP 6: Turn right, go straight, then turn left at the dishwasher. | STEP 7: Put the mug on the counter, in front of the lettuce. | END