Task: Place chilled orange cup with spoon on counter between kettle and tomato

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.930          -0.75          0              180            0
   1  Potato          0.773          0.924          -1.559         0              0              0              109
   2  Ladle           1.098          0.945          0.322          0              180            0              94
   3  ButterKnife     0.710          0.908          0.727          0              180            0              94
   4  ButterKnife     3.200          0.900          -0.798         0              0              0              62
   5  Kettle          -0.420         0.902          -0.920         0              135            0              58
   6  Kettle          0.967          0.909          0.180          0              0              0              94
   7  Spatula         3.07           0.768          0.098          0              90             0              108
   8  Spoon           -0.705         0.135          -0.634         0              315            0              89
   9  Spoon           3.111          0.748          -0.100         0              0              0              108
  10  Spoon           0.330          0.131          -1.475         0              0              0              53
  11  Fork            -0.853         0.900          -0.877         0              45             0              63
  12  CellPhone       0.017          0.897          -1.239         0              45             0              84
  13  Mug             0.101          0.895          -1.803         0              0              0              84
  14  Lettuce         0.716          0.976          0.135          0              36.810         0              94
  15  SaltShaker      0.404          1.256          -1.776         0              0              0              79
  16  SaltShaker      3.393          0.897          0.232          0              0              0              62
  17  PepperShaker    -0.285         0.896          -1.450         0              45             0              84
  18  PepperShaker    3.279          1.260          -0.917         0              0              0              76
  19  Bowl            -0.729         0.897          -0.699         0              45             0              63
  20  Cup             -1.052         0.995          1.258          0              90             0              111
  21  Cup             0.929          1.245          -1.475         0              0              0              109
  22  Plate           3.140          0.190          0.700          0              0              0              72
  23  Plate           3.181          1.477          -1.648         0              0              0              61
  24  Plate           0.839          0.923          0.530          0              36.810         0              94
  25  Glassbottle     3.355          0.901          -0.698         0              0              0              62
  26  SoapBottle      0.336          0.909          -1.660         0              0              0              113
  27  Potato          0.415          0.938          -1.373         0              0              0              84
  28  Fork            3.122          0.901          -0.399         0              180            0              62
  29  Ladle           -0.868         0.363          0.664          0              0              0              64
  30  Pot             0.423          0.900          0.869          0              0              0              94
  31  Kettle          0.808          1.675          -1.410         0              0              0              78
  32  Spatula         0.101          0.915          -1.588         0              90             0              84
  33  Knife           -0.721         0.925          -0.908         0              135            0              63
  34  Lettuce         0.007          0.965          -1.435         0              45             0              84
  35  Cup             3.198          0.173          -0.702         0              0              0              75
  36  SaltShaker      -0.007         0.702          -1.375         0              45             0              73
  37  Egg             3.152          0.799          0.165          0              90             0              108
  38  PepperShaker    -0.991         0.703          1.343          0              0              0              56
  39  ButterKnife     -0.868         0.326          1.605          0              0              0              98
  40  Apple           1.008          0.959          -1.475         0              0              0              109
  41  Pan             -0.789         0.899          0.176          0              0              0              63
  42  Bread           0.553          0.989          0.379          0              36.810         0              94
  43  CellPhone       -0.101         0.320          -1.330         0              45             0              95
  44  DishSponge      0.622          0.907          0.827          0              0              0              94
  45  Tomato          1.229          0.945          0.180          0              0              0              94
  46  Spoon           -0.827         0.707          0.839          0              0              0              67
  47  Bowl            3.173          1.461          -1.284         0              0              0              77
  48  Mug             0.773          0.706          -1.381         0              0              0              109
  49  Drawer          0.376          0.572          -1.509         0              0              0
  50  Drawer          3.020          0.769          -0.783         0              180            0
  51  Drawer          -0.860         0.577          1.429          0              0              0
  52  StoveBurner     -0.600         0.897          -1.090         0              135            0
  53  Drawer          0.376          0.191          -1.509         0              0              0
  54  Cabinet         1.402          1.874          -1.259         0              0              0
  55  Cabinet         -0.202         1.963          -1.328         0              0              0
  56  Drawer          -0.860         0.765          1.429          0              0              0
  57  Drawer          -0.677         0.765          -0.700         0              0              0
  58  StoveBurner     -0.420         0.897          -0.920         0              135            0
  59  Drawer          3.020          0.769          -0.407         0              180            0
  60  Drawer          -0.860         0.577          0.663          0              0              0
  61  Cabinet         2.819          1.768          -1.850         0              0              0
  62  CounterTop      3.111          0.936          0.019          0              0              0
  63  CounterTop      -1.007         0.935          -0.039         0              0              0
  64  Drawer          -0.860         0.385          0.663          0              0              0
  65  StoveBurner     -0.419         0.897          -1.269         0              315            0
  66  Drawer          -0.047         0.573          -1.324         0              0              0
  67  Drawer          -0.860         0.765          0.663          0              0              0
  68  Drawer          -0.860         0.385          -0.100         0              0              0
  69  Drawer          0.376          0.380          -1.509         0              0              0
  70  Drawer          -0.860         0.765          -0.100         0              0              0
  71  Drawer          0.376          0.765          -1.509         0              0              0
  72  Cabinet         2.849          0.419          0.409          0              0              0
  73  Drawer          -0.047         0.765          -1.324         0              0              0
  74  Cabinet         2.849          0.419          -0.610         0              0              0
  75  Cabinet         2.849          0.419          -0.959         0              0              0
  76  Cabinet         3.069          1.666          -0.709         0              0              0
  77  Cabinet         2.819          1.768          -1.047         0              0              0
  78  Cabinet         0.620          1.874          -1.259         0              0              0
  79  Cabinet         0.140          1.666          -1.559         0              0              0
  80  Cabinet         -0.189         1.666          -1.340         0              0              0
  81  Cabinet         -0.709         1.963          -0.819         0              0              0
  82  Cabinet         -0.920         1.665          -0.620         0              0              0
  83  Drawer          -0.860         0.190          -0.100         0              0              0
  84  CounterTop      0.133          0.935          -1.457         0              0              0
  85  Drawer          3.020          0.769          0.695          0              180            0
  86  Drawer          -0.677         0.577          -0.700         0              0              0
  87  Drawer          -0.860         0.190          1.429          0              0              0
  88  Drawer          -0.047         0.192          -1.324         0              0              0
  89  Drawer          -0.677         0.193          -0.700         0              0              0
  90  Drawer          -0.860         0.577          -0.100         0              0              0
  91  Sink            3.078          0.887          0.086          0              0              0
  92  StoveBurner     -0.239         0.897          -1.089         0              315            0
  93  Drawer          -0.860         0.190          0.663          0              0              0
  94  CounterTop      1.210          0.937          0.463          0              0              0
  95  Drawer          -0.047         0.381          -1.324         0              0              0
  96  Drawer          -0.677         0.387          -0.700         0              0              0
  97  Mirror          -1.295         1.630          0.045          0              0              0
  98  Drawer          -0.860         0.385          1.429          0              0              0
  99  HousePlant      3.196          0.891          -0.368         0              0              0
 100  StoveKnob       -0.090         0.790          -1.009         270            45             0
 101  StoveKnob       -0.280         0.790          -0.819         270            45             0
 102  StoveKnob       -0.180         0.790          -0.920         270            45             0
 103  StoveKnob       -0.370         0.790          -0.720         270            45             0
 104  GarbageCan      3.137          0.025          1.545          0              225            0
 105  Window          3.703          1.675          0.046          90             90             0
 106  CoffeeMachine   3.214          0.890          0.697          0              270            0
 107  LightSwitch     2.592          1.309          -1.880         0              0              0
 108  SinkBasin       3.069          0.736          0.108          0              90             0
 109  Fridge          1.008          0.029          -1.467         0              0              0
 110  Toaster         -1.035         0.873          -0.396         0              90             0
 111  Microwave       -1.034         0.874          1.428          0              90             0
 112  Faucet          3.305          0.886          0.094          270            180            0
 113
 114  NorthWall
 115  EastWall
 116  SouthWall
 117  WestWall

Plan:
STEP 1: turn around, go to sink to the right | STEP 2: pick up spoon from sink | STEP 3: turn around, go to refrigerator to the left | STEP 4: place spoon in orange cup on second shelf of refrigerator | STEP 5: pick up orange cup with spoon, close refrigerator | STEP 6: turn around, face counter with kettle | STEP 7: place orange cup with spoon on counter in between kettle and tomato | END