Task: Put a green cup with a spoon in it on a counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          2.0            0              270            0
   1  Potato          -2.810         0.960          1.125          0              0              0              61
   2  Fork            -2.957         0.824          0.129          0              90             0              42
   3  Spoon           -2.581         0.824          0.707          0              0              0              42
   4  Egg             -2.967         0.847          0.462          0              0              0              42
   5  Plate           -2.671         1.148          2.133          0              90             0              60
   6  Knife           -1.876         0.849          0.528          0              0              0              42
   7  SoapBottle      -0.817         0.821          0.203          0              0              0              42
   8  SoapBottle      -2.840         0.821          0.278          0              0              0              42
   9  Bowl            -2.540         1.845          2.368          0              0              0              52
  10  SaltShaker      -2.375         0.818          0.352          0              0              0              42
  11  SaltShaker      -2.859         1.429          1.588          0              0              0              50
  12  PepperShaker    -0.817         0.818          0.500          0              0              0              42
  13  Lettuce         -2.726         1.529          2.133          0              90             0              60
  14  Apple           -2.735         0.896          0.789          0              0              0              42
  15  Fork            -2.530         0.693          1.474          0              90             0              47
  16  Ladle           -0.371         0.738          0.879          0              45             0              44
  17  Pan             -0.244         0.829          1.684          0              0              0              41
  18  SoapBottle      -0.395         0.054          2.674          0              0              0              62
  19  Pot             -0.531         0.822          2.096          0              0              0              39
  20  Tomato          -2.504         0.873          0.544          0              0              0              42
  21  Potato          -2.491         0.862          0.129          0              0              0              42
  22  SaltShaker      -1.637         0.120          0.401          0              0              0              55
  23  Plate           -2.609         0.126          1.510          0              0              0              53
  24  Spatula         -0.341         0.696          1.194          0              45             0              38
  25  Knife           -1.151         0.849          0.352          0              270            0              42
  26  Egg             -0.295         0.080          2.539          0              0              0              62
  27  Cup             -1.465         0.125          0.401          0              0              0              55
  28  ButterKnife     -2.491         0.823          0.278          0              0              0              42
  29  Lettuce         -1.836         0.741          0.238          0              55.910         0              69
  30  PepperShaker    -0.147         0.818          0.278          0              0              0              42
  31  DishSponge      -2.762         1.434          0.380          0              45             0              48
  32  Bread           -0.979         0.855          0.249          0              29.999         0              42
  33  Spoon           -0.943         0.712          0.411          0              90             0              45
  34  Mug             -0.646         0.888          0.367          0              0              0              70
  35  Bowl            -2.810         0.918          1.337          0              90             0              61
  36  Cabinet         -2.377         2.015          1.720          0              0              0
  37  StoveBurner     -0.244         0.820          2.075          0              180            0
  38  Drawer          -0.402         0.703          1.252          0              0              0
  39  StoveBurner     -0.518         0.820          2.075          0              180            0
  40  Sink            -1.838         0.726          0.343          0              180            0
  41  StoveBurner     -0.244         0.820          1.684          0              0              0
  42  CounterTop      -1.557         0.859          0.277          0              0              0
  43  StoveBurner     -0.518         0.820          1.684          0              0              0
  44  Drawer          -0.404         0.704          0.912          0              0              0
  45  Drawer          -0.861         0.709          0.420          0              0              0
  46  Drawer          -1.133         0.706          0.418          0              0              0
  47  Drawer          -2.589         0.703          1.511          0              0              0
  48  Cabinet         -2.772         1.803          0.508          0              0              0
  49  Cabinet         -2.460         1.803          0.231          0              0              0
  50  Cabinet         -2.781         1.798          0.825          0              0              0
  51  Cabinet         -2.781         1.798          0.815          0              0              0
  52  Cabinet         -2.377         2.009          2.581          0              0              0
  53  Cabinet         -2.442         0.385          1.672          0              0              0
  54  Cabinet         -2.238         0.385          0.564          0              0              0
  55  Cabinet         -1.286         0.385          0.564          0              0              0
  56  Cabinet         -1.262         0.385          0.565          0              0              0
  57  Cabinet         -0.734         0.385          0.565          0              0              0
  58  Cabinet         -0.549         0.385          0.751          0              0              0
  59  Cabinet         -0.549         0.385          1.412          0              0              0
  60  Fridge          -2.782         0.0            2.221          0              0              0
  61  Microwave       -2.794         0.812          1.348          0              90             0
  62  GarbageCan      -0.329         2.205          2.606          0              0              0
  63  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  64  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  65  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  66  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  67  Window          -1.720         1.342          -0.208         90             0              0
  68  Toaster         -0.171         0.812          0.735          0              270            0
  69  SinkBasin       -1.745         0.687          0.295          0              0              0
  70  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  71  LightSwitch     -0.615         1.378          3.0            0              180            0
  72  Faucet          -1.686         0.954          0.176          0              236.223        0
  73  Stool           -1.008         0.008          1.955          0              18.279         0
  74  NorthWall
  75  EastWall
  76  SouthWall
  77  WestWall

Plan:
STEP 1: Turn left, go straight to the sink, turn right, go straight to the counter. | STEP 2: Take the spoon from the counter. | STEP 3: Turn around, go in front of the sink on the left. | STEP 4: Put the spoon in the green cup in the cabinet under the left sink basin. | STEP 5: Take the green cup from the cabinet. | STEP 6: Go backwards and to the right while facing the right sink basin. | STEP 7: Put the green cup on the right counter above the dishwasher next to the tomato. | END