Task: Put a plate with a spoon on it inside a cabinet.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          4.0            0              180            0
   1  Pan             -0.539         0.045          1.954          0              90             0              81
   2  Potato          -0.922         1.484          -0.627         0              90             0              96
   3  Ladle           -0.544         1.066          2.556          0              0              0              55
   4  Ladle           2.607          0.803          3.848          0              329.999        0              53
   5  Ladle           2.621          1.066          -1.151         0              0              0              52
   6  DishSponge      3.062          0.032          -0.586         0              0              0              93
   7  DishSponge      2.790          1.026          -1.456         0              0              0              52
   8  ButterKnife     2.194          1.026          1.107          0              136.999        0              52
   9  Glassbottle     -0.645         0.817          1.181          0              90             0              109
  10  Pot             2.177          1.027          -1.599         0              0              0              51
  11  Spatula         2.475          0.779          4.204          0              225            0              53
  12  Spoon           1.350          1.028          -1.881         0              90             0              52
  13  Fork            2.061          0.765          3.580          0              225            0              53
  14  Fork            2.754          1.027          1.350          0              136.999        0              52
  15  Tomato          -0.947         0.839          -0.184         0              90             0              96
  16  Bowl            -0.851         0.814          1.181          0              90             0              109
  17  PepperShaker    2.294          0.760          4.091          0              329.999        0              53
  18  PepperShaker    2.041          0.798          1.264          0              317.0          0              65
  19  Bread           2.945          0.832          4.254          0              225            0              53
  20  Lettuce         -0.782         0.874          1.492          0              90             0              109
  21  Mug             2.376          0.759          4.32           0              0              0              53
  22  Apple           3.043          1.077          0.068          0              0              0              52
  23  Apple           2.106          1.911          -1.876         0              0              0              98
  24  Pan             -0.968         1.441          -0.295         0              180            0              96
  25  Glassbottle     -0.987         0.786          -0.627         0              90             0              96
  26  Knife           -0.669         1.052          0.877          0              180            0              55
  27  SoapBottle      3.043          1.025          -0.846         0              0              0              52
  28  Egg             -1.069         0.830          -0.295         0              90             0              96
  29  Fork            1.882          1.027          1.653          0              136.999        0              52
  30  Potato          2.788          0.806          4.412          0              225            0              53
  31  Ladle           -0.544         1.066          0.323          0              0              0              55
  32  Tomato          2.537          1.080          0.068          0              0              0              52
  33  Pot             1.836          1.027          -1.84          0              90             0              50
  34  WineBottle      -0.794         1.028          2.434          0              0              0              55
  35  Plate           2.621          1.027          -0.846         0              0              0              52
  36  Spatula         1.953          1.041          1.998          0              136.999        0              52
  37  PaperTowelRoll  -0.347         1.131          1.171          0              0              0              55
  38  Lettuce         -0.418         1.085          2.434          0              0              0              55
  39  Apple           -0.577         0.866          1.570          0              90             0              109
  40  SaltShaker      2.441          0.760          3.540          0              329.999        0              53
  41  PepperShaker    2.683          1.023          1.004          0              136.999        0              52
  42  ButterKnife     -0.802         0.800          1.899          0              0              0              57
  43  Bread           2.321          0.832          3.840          0              225            0              53
  44  Cup             2.763          0.763          3.726          0              329.999        0              53
  45  DishSponge      1.672          0.800          1.569          0              317.0          0              67
  46  Bowl            -0.418         1.025          0.785          0              0              0              55
  47  Spoon           1.925          0.765          3.969          0              270            0              53
  48  Mug             2.673          0.759          3.62           0              0              0              53
  49  Sink            -0.716         1.023          1.333          0              0              0
  50  StoveBurner     1.835          1.018          -1.840         0              90             0
  51  StoveBurner     2.177          1.018          -1.599         0              0              0
  52  CounterTop      2.812          0.992          0.675          0              0              0
  53  DiningTable     2.419          0.003          3.930          0              0              0
  54  Drawer          -0.643         0.828          0.616          0              0              0
  55  CounterTop      -0.813         1.062          2.188          0              0              0
  56  StoveBurner     2.115          1.018          -1.840         0              270            0
  57  Drawer          -0.643         0.831          1.953          0              0              0
  58  Drawer          -0.643         0.833          2.418          0              0              0
  59  Drawer          1.347          0.836          -1.539         0              0              0
  60  Drawer          2.693          0.833          -1.131         0              0              0
  61  Drawer          2.693          0.833          -0.699         0              0              0
  62  Drawer          2.693          0.833          -0.267         0              0              0
  63  Drawer          2.693          0.833          0.163          0              0              0
  64  Drawer          2.524          0.833          0.720          0              2.000          0
  65  Drawer          2.232          0.833          1.036          0              2.000          0
  66  Drawer          1.936          0.833          1.354          0              2.000          0
  67  Drawer          1.646          0.833          1.670          0              2.000          0
  68  Cabinet         1.504          2.475          -1.710         0              0              0
  69  Cabinet         -0.823         2.220          1.621          0              0              0
  70  Cabinet         -0.823         2.220          0.615          0              0              0
  71  Cabinet         1.136          0.388          -1.355         0              0              0
  72  Cabinet         -0.356         0.383          2.626          0              0              0
  73  Cabinet         2.745          2.220          -1.690         0              0              0
  74  Cabinet         1.882          0.383          1.017          0              0              0
  75  Cabinet         1.307          0.473          1.640          0              0              0
  76  Cabinet         1.892          0.383          1.006          0              0              0
  77  Cabinet         2.467          0.383          0.383          0              0              0
  78  Cabinet         2.466          0.383          -0.475         0              0              0
  79  Cabinet         2.466          0.473          0.371          0              0              0
  80  Cabinet         2.386          2.475          -1.710         0              0              0
  81  Cabinet         -0.356         0.383          1.712          0              0              0
  82  Cabinet         2.745          2.220          0.019          0              0              0
  83  Cabinet         -0.663         2.496          0.157          0              0              0
  84  Cabinet         -0.663         2.496          -0.868         0              0              0
  85  Cabinet         -0.356         0.383          0.269          0              0              0
  86  Cabinet         -0.823         2.220          1.603          0              0              0
  87  Cabinet         -0.662         2.234          0.586          0              0              0
  88  Cabinet         2.745          2.220          -0.843         0              0              0
  89  Cabinet         2.745          2.220          -0.827         0              0              0
  90  Cabinet         -0.823         2.220          2.608          0              0              0
  91  Cabinet         2.732          2.226          -1.709         0              0              0
  92  Cabinet         1.137          2.226          -1.709         0              0              0
  93  Cabinet         2.466          0.383          -0.491         0              0              0
  94  Cabinet         2.466          0.383          -1.339         0              0              0
  95  StoveBurner     1.761          1.018          -1.599         0              0              0
  96  Fridge          -0.908         0.0            -0.405         0              0              0
  97  HousePlant      2.517          1.016          1.822          0              0              0
  98  Microwave       1.939          1.745          -1.826         0              0              0
  99  StoveKnob       2.017          1.041          -1.514         0              180            180
 100  StoveKnob       1.934          1.041          -1.514         0              180            180
 101  StoveKnob       2.017          1.041          -1.589         0              180            180
 102  StoveKnob       1.934          1.041          -1.589         0              180            180
 103  Window          1.756          1.608          4.762          90             0              0
 104  HousePlant      2.171          1.004          2.091          0              0              0
 105  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 106  LightSwitch     -0.099         1.410          -2.066         0              0              0
 107  GarbageCan      -0.951         -0.029         2.826          0              0              0
 108  Toaster         -1.007         1.018          2.238          0              90             0
 109  SinkBasin       -0.714         0.805          1.348          0              90             0
 110  Chair           1.615          0.004          4.310          0              107.976        0
 111  Faucet          -1.120         1.013          1.334          0              90             0
 112  Chair           2.759          0.004          3.086          0              358.967        0
 113
 114  NorthWall
 115  EastWall
 116  SouthWall
 117  WestWall

Plan:
STEP 1: Turn left and take a step forward, then turn right and walk up to the end of the counter. | STEP 2: Pick up the large metal spoon on the end of the counter. | STEP 3: Turn left and walk forward, then hang a right and begin walking across the room, hang a left and walk up to the small white plate on the counter. | STEP 4: Place the metal spoon on the small white plate handle up. | STEP 5: Pick up the white plate with the spoon on it off of the counter. | STEP 6: Turn around and begin walking to the fridge, then turn around again to face the counter and look down. | STEP 7: Open the rightmost cabinet door and plate the plate with the spoon on it inside. | END