Task: Put a cup with a spoon in it 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           1.0            0.901          0.75           0              90             0
   1  WineBottle      -0.119         0.791          1.217          0              0              0              82
   2  DishSponge      -0.004         0.080          1.993          0              0              0              62
   3  ButterKnife     0.174          0.937          2.688          0              0              0              55
   4  ButterKnife     -0.282         0.937          2.827          0              0              0              55
   5  Fork            1.906          0.746          0.583          0              90             0              64
   6  Fork            0.682          0.795          2.695          0              270            0              79
   7  Egg             1.950          0.380          -0.460         0              270            0              76
   8  Egg             0.576          0.837          2.64           0              0              0              79
   9  Cup             1.223          0.793          2.529          0              0              0              79
  10  Knife           1.989          0.771          1.922          0              90             0              70
  11  Knife           2.301          0.963          0.509          0              90             0              66
  12  SoapBottle      2.040          0.082          2.199          0              270            0              51
  13  Tomato          -0.396         0.983          2.827          0              0              0              55
  14  Tomato          2.168          1.369          -0.007         0              270            0              76
  15  Bowl            2.244          1.498          2.425          0              0              0              48
  16  Bowl            2.167          1.498          2.104          0              0              0              58
  17  PepperShaker    2.280          1.498          0.785          0              0              0              63
  18  PepperShaker    -0.425         0.785          0.881          0              0              0              82
  19  Lettuce         2.000          1.385          -0.460         0              270            0              76
  20  Lettuce         -0.396         0.999          2.688          0              270            0              55
  21  Mug             2.064          0.989          2.462          0              225            0              81
  22  Apple           0.033          0.840          1.217          0              0              0              82
  23  Apple           1.945          1.373          -0.279         0              270            0              76
  24  Egg             -0.119         0.833          1.049          0              0              0              82
  25  Lettuce         -0.042         0.852          0.545          0              0              0              82
  26  Fork            -0.042         0.928          2.530          0              180            0              55
  27  SoapBottle      1.156          0.082          2.562          0              0              0              61
  28  Ladle           1.849          0.126          1.915          0              90             0              51
  29  Ladle           -0.097         0.942          2.543          3.613          45             340.226        55
  30  Bread           -0.199         0.823          0.813          0              0              0              82
  31  SaltShaker      -0.349         0.785          1.217          0              0              0              82
  32  Potato          2.071          0.978          0.361          0              90             0              66
  33  Pan             2.140          0.935          1.504          0              180            0              50
  34  WineBottle      -0.042         0.791          0.881          0              0              0              82
  35  Spatula         0.788          0.810          2.584          0              90             0              79
  36  Knife           1.872          0.771          0.721          0              270            0              64
  37  Tomato          -0.167         0.983          2.757          0              0              0              55
  38  Apple           -0.294         1.085          1.961          0              90             0              80
  39  ButterKnife     -0.119         0.782          0.377          0              0              0              82
  40  Pot             1.854          0.937          1.497          0              0              0              59
  41  PepperShaker    0.033          0.785          1.049          0              0              0              82
  42  Cup             2.023          0.336          -0.188         0              270            0              76
  43  DishSponge      2.205          1.948          1.468          0              0              0              60
  44  Plate           -0.312         0.781          0.409          0              0              0              82
  45  Spoon           1.917          0.939          0.583          0              0              0              66
  46  Mug             2.158          0.855          -0.369         0              270            0              76
  47  Bowl            2.076          1.515          -0.278         0              270            0              76
  48  Cabinet         2.041          2.113          2.618          0              0              0
  49  Cabinet         0.126          0.388          1.774          0              0              0
  50  StoveBurner     2.140          0.929          1.504          0              180            0
  51  Cabinet         1.760          0.388          2.346          0              0              0
  52  Cabinet         1.760          0.388          0.869          0              0              0
  53  Cabinet         2.041          1.810          0.283          0              0              0
  54  Drawer          -0.024         0.774          2.061          0              0              0
  55  CounterTop      1.065          0.973          2.666          0              0              0
  56  Cabinet         1.969          2.113          2.618          0              0              0
  57  StoveBurner     2.140          0.929          1.106          0              0              0
  58  Cabinet         2.041          2.113          1.809          0              0              0
  59  StoveBurner     1.866          0.929          1.504          0              180            0
  60  Cabinet         2.041          2.113          1.766          0              0              0
  61  Cabinet         1.514          0.388          2.360          0              0              0
  62  Cabinet         0.351          0.388          2.360          0              0              0
  63  Cabinet         2.041          1.810          0.872          0              0              0
  64  Drawer          2.167          0.774          0.582          0              0              0
  65  Cabinet         2.041          2.113          0.892          0              0              0
  66  CounterTop      2.060          0.973          0.583          0              0              0
  67  Sink            0.935          0.936          2.646          0              0              0
  68  Curtains        0.964          2.061          2.989          0              0              0
  69  StoveBurner     1.863          0.929          1.106          0              0              0
  70  Drawer          1.911          0.774          2.060          0              0              0
  71  StoveKnob       2.326          1.092          1.610          288.013        90             0
  72  StoveKnob       2.326          1.092          1.460          288.013        90             0
  73  StoveKnob       2.326          1.092          1.210          288.013        90             0
  74  StoveKnob       2.326          1.092          1.050          288.013        90             0
  75  Toaster         2.126          0.926          0.572          0              270            0
  76  Fridge          2.104          0.0            -0.279         0              270            0
  77  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  78  LightSwitch     0.354          1.518          -1.031         0              0              0
  79  SinkBasin       0.903          0.784          2.640          0              0              0
  80  Microwave       -0.310         0.926          2.077          0              90             0
  81  CoffeeMachine   2.084          0.927          2.667          0              225            0
  82  DiningTable     -0.153         -0.000         1.073          0              270            0
  83  Faucet          1.175          0.926          2.950          270            90             0
  84  Faucet          0.686          0.926          2.950          270            90             0
  85  Chair           -0.077         0.002          0.196          0              15.000         0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Walk straight ahead to the toaster. | STEP 2: Pick up the spoon on the counter. | STEP 3: Walk right to the fridge. | STEP 4: Place the spoon in the cup in the fridge. | STEP 5: Pick up the cup with the spoon in it. | STEP 6: Turn around and forward to the table against the wall. | STEP 7: Put the cup on the table in front of the bread and to the left of the leftmost wine bottle. | END