Task: Put a spoon in a cup 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           -1.75          0.901          3.0            0              270            0
   1  ButterKnife     -0.572         0.900          3.535          0              0              0              76
   2  Spoon           -0.572         0.901          3.334          0              0              0              76
   3  Spoon           -1.716         0.663          0.300          0              0              0              56
   4  Spoon           -2.628         0.936          3.488          0              90             0              60
   5  Fork            -0.572         0.901          2.530          0              0              0              76
   6  Pot             -0.314         0.900          3.334          0              0              0              76
   7  Pot             -0.535         0.928          4.274          0              0              0              57
   8  Egg             -0.921         0.829          0.447          0              0              0              71
   9  Egg             -0.819         0.961          0.032          0              0              0              53
  10  Plate           -1.691         1.777          0.205          0              0              0              48
  11  Plate           -2.805         1.190          4.427          0              90             0              70
  12  Knife           -2.323         0.688          0.464          0              270            0              61
  13  Tomato          -2.995         0.964          2.309          0              0              0              74
  14  Tomato          -2.170         0.992          0.348          0              0              0              53
  15  Bowl            -2.037         0.924          0.518          0              0              0              53
  16  SaltShaker      -0.326         0.658          0.519          0              0              0              42
  17  SaltShaker      -1.770         0.924          0.518          0              0              0              53
  18  Bread           -0.314         0.957          2.530          0              0              0              76
  19  Lettuce         -2.816         0.133          0.369          0              26.101         0              67
  20  Mug             -0.403         1.013          0.203          0              0              0              72
  21  Egg             -0.191         1.056          0.299          0              0              0              72
  22  Plate           -0.304         1.777          0.160          0              0              0              52
  23  Fork            -2.269         0.662          0.300          0              90             0              61
  24  Bread           -2.864         0.940          1.983          0              0              0              74
  25  Apple           -1.094         0.852          0.226          0              0              0              71
  26  Lettuce         -0.572         0.980          2.731          0              180            0              76
  27  Spatula         -0.835         0.812          0.281          0              90             0              71
  28  Knife           -2.789         0.926          2.573          0              0              0              74
  29  Potato          -0.143         0.926          3.334          0              0              0              76
  30  Tomato          -2.706         0.999          3.209          0              0              0              60
  31  Cup             -2.686         0.900          2.045          0              0              0              74
  32  SaltShaker      -2.995         0.896          2.441          0              0              0              74
  33  PepperShaker    -1.878         0.658          0.409          0              0              0              56
  34  ButterKnife     -1.878         0.662          0.355          0              0              0              56
  35  SoapBottle      -2.480         0.900          2.573          0              0              0              74
  36  Pan             -0.250         0.926          4.651          0              0              0              55
  37  DishSponge      -1.266         0.795          0.281          0              0              0              71
  38  Pot             -2.583         0.900          2.309          0              180            0              74
  39  Spoon           -2.864         0.936          3.209          0              0              0              60
  40  Mug             -0.244         1.018          0.140          0              90             0              72
  41  Bowl            -1.358         1.770          0.251          0              0              0              50
  42  Drawer          -0.325         0.696          0.413          0              0              0
  43  Cabinet         -0.595         0.490          0.648          0              0              0
  44  Cabinet         -0.555         0.490          0.646          0              0              0
  45  Cabinet         -1.591         0.490          0.646          0              0              0
  46  Cabinet         -1.554         0.490          0.646          0              0              0
  47  Cabinet         -2.550         0.490          0.646          0              0              0
  48  Cabinet         -1.514         2.046          0.392          0              0              0
  49  Cabinet         -2.474         2.046          0.392          0              0              0
  50  Cabinet         -1.478         2.046          0.392          0              0              0
  51  Cabinet         -0.518         2.046          0.392          0              0              0
  52  Cabinet         -0.479         2.046          0.392          0              0              0
  53  CounterTop      -1.366         0.952          0.349          0              0              0
  54  Sink            -1.108         0.926          0.340          0              0              0
  55  StoveBurner     -0.254         0.922          4.672          0              0              0
  56  Drawer          -1.824         0.696          0.413          0              0              0
  57  StoveBurner     -0.535         0.922          4.274          0              0              0
  58  StoveBurner     -0.254         0.922          4.274          0              0              0
  59  StoveBurner     -0.536         0.922          4.672          0              0              0
  60  CounterTop      -2.780         0.971          3.487          0              0              0
  61  Drawer          -2.323         0.696          0.413          0              0              0
  62  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  66  Toaster         -0.286         0.861          3.520          0              270            0
  67  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  68  LightSwitch     -0.064         1.447          1.996          0              270            0
  69  Window          -3.075         1.593          1.361          90             90             0
  70  Fridge          -2.802         0.0            4.427          0              0              0
  71  SinkBasin       -1.106         0.785          0.337          0              0              0
  72  Microwave       -0.358         0.917          0.224          0              0              0
  73  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  74  DiningTable     -2.733         -0.003         2.607          0              270            0
  75  Faucet          -1.077         0.920          0.028          270            270            0
  76  DiningTable     -0.488         -0.003         3.182          0              270            0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Turn left, move forward, turn right, step forward, then turn right to face the table. | STEP 2: Pick up the cup on the table. | STEP 3: Turn right, go forward, turn left, move forward, then turn left to face the counter with the coffee maker. | STEP 4: Put the cup on the counter, in front of the coffee maker. | STEP 5: Pick up the spoon in front of the coffee maker. | STEP 6: Put the spoon in the cup. | END