Task: place a cup with a spoon in it on top of a black table

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           0.869          -3.25          0              270            0
   1  DishSponge      0.812          1.463          0.288          0              0              0              52
   2  DishSponge      0.732          0.015          0.011          0              0              0              50
   3  ButterKnife     0.950          0.883          0.029          0              0              0              40
   4  Spatula         0.817          0.774          -0.124         0              0              0              39
   5  Spoon           0.149          0.901          0.929          0              270            0              66
   6  Egg             0.863          0.701          -2.113         0              270            0              60
   7  Egg             1.024          0.920          0.098          0              0              0              40
   8  Cup             0.601          0.663          0.569          0              0              0              45
   9  Knife           0.623          0.782          0.002          0              270            0              39
  10  Tomato          0.708          0.713          -1.802         0              270            0              60
  11  Tomato          0.715          0.820          -0.680         0              270            0              63
  12  SoapBottle      0.149          0.899          1.187          0              270            0              66
  13  PepperShaker    -1.578         0.696          -3.614         0              0              0              67
  14  SaltShaker      0.566          0.012          -0.571         0              0              0              43
  15  Lettuce         -0.252         0.987          0.843          0              270            0              66
  16  Lettuce         0.785          0.751          -1.958         0              270            0              60
  17  Apple           0.785          0.519          -1.802         0              270            0              60
  18  Pot             -1.970         0.700          -0.983         0              0              0              76
  19  Plate           -2.023         0.692          -1.447         0              0              0              76
  20  Fork            -0.252         0.901          1.015          0              180            0              66
  21  SoapBottle      0.781          0.663          0.326          0              0              0              45
  22  Apple           -1.224         0.105          -3.684         0              270            0              55
  23  Pan             -1.552         0.930          0.785          0              0              0              44
  24  Egg             0.961          0.702          0.569          0              0              0              45
  25  Spatula         -1.635         0.716          -0.875         0              0              0              76
  26  Potato          -0.051         0.933          1.015          0              270            0              66
  27  Cup             0.877          0.882          -0.245         0              0              0              40
  28  SaltShaker      0.961          0.660          0.326          0              0              0              45
  29  PepperShaker    0.898          0.012          0.076          0              0              0              50
  30  ButterKnife     0.769          0.760          -0.188         0              0              0              39
  31  DishSponge      -1.297         0.051          -3.574         0              270            0              55
  32  Bread           -0.873         0.931          0.978          0              24.231         0              66
  33  Lettuce         -0.051         0.987          1.187          0              270            0              66
  34  Tomato          0.841          0.712          0.448          0              0              0              45
  35  Spoon           -0.654         0.901          0.843          0              270            0              66
  36  Knife           -1.556         0.719          -3.445         0              90             0              67
  37  Mug             0.698          0.941          -1.360         0              270            0              53
  38  Bowl            0.787          0.014          -0.571         0              0              0              43
  39  Drawer          0.706          0.766          -0.125         0              0              0
  40  CounterTop      0.792          0.919          -0.108         0              0              0
  41  Mirror          1.093          1.602          -0.643         0              0              0
  42  StoveBurner     -2.096         0.890          0.785          0              0              0
  43  Cabinet         0.507          0.345          -0.426         0              0              0
  44  StoveBurner     -1.552         0.890          0.785          0              0              0
  45  SideTable       0.770          -0.030         0.443          0              0              0
  46  Sink            0.753          0.882          -0.680         0              0              0
  47  StoveBurner     -2.096         0.890          1.049          0              0              0
  48  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  49  StoveBurner     -1.554         0.890          1.049          0              0              0
  50  Cabinet         0.507          0.345          0.156          0              0              0
  51  Cabinet         0.717          1.822          -0.398         0              0              0
  52  Cabinet         0.717          1.822          0.669          0              0              0
  53  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  54  Toaster         -0.522         0.886          1.081          0              180            0
  55  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  56  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  57  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  58  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  59  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  60  Fridge          0.680          -0.031         -1.957         0              0              0
  61  Window          -2.424         1.639          -2.453         90             270            0
  62  Microwave       -1.994         0.690          -3.651         0              0              0
  63  SinkBasin       0.757          0.762          -0.688         0              270            0
  64  LightSwitch     1.102          1.368          -3.737         0              270            0
  65  Shelf           -0.350         0.124          0.857          0              0              0
  66  DiningTable     -0.350         -0.025         0.857          0              0              0
  67  DiningTable     -1.909         -0.032         -3.507         0              0              0
  68  Blinds          -2.343         2.151          -2.437         0              270            0
  69  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  70  AluminumFoil    0.751          0.225          0.287          0              0              0
  71  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  72  Shelf           0.771          0.226          0.445          0              0              0
  73  Shelf           0.771          0.456          0.446          0              0              0
  74  Faucet          1.025          0.873          -0.678         270            180            0
  75  Shelf           -0.350         0.497          0.857          0              0              0
  76  DiningTable     -1.929         -0.035         -1.398         0              90             0
  77  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: walk over to the white kitchen table | STEP 2: grab a spoon off of the table | STEP 3: walk over to the coffee maker on the kitchen counter | STEP 4: place the spoon inside the cup under the coffee spout | STEP 5: grab the cup off of the coffee maker | STEP 6: bring the cup over to the black table left of the kitchen counter | STEP 7: place the cup on the black table | END