Task: TO put a spoon in a cup plus place them on the kitchen table.

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          -2.75          0              180            0
   1  DishSponge      -0.126         1.938          -2.285         0              0              0              51
   2  ButterKnife     -0.605         0.813          -3.376         0              315            0              70
   3  Pot             -3.163         0.895          -0.376         0              270            0              78
   4  Spoon           -4.039         0.761          -3.109         0              109.125        0              77
   5  Plate           -3.721         0.774          -3.611         0              199.125        0              77
   6  Plate           -0.173         1.516          -1.489         0              0              0              52
   7  Knife           -0.473         0.967          -2.729         0              270            0              41
   8  Knife           -0.321         0.967          -2.552         0              180            0              41
   9  SoapBottle      -3.565         0.892          -0.633         0              270            0              78
  10  Tomato          -2.354         0.150          -3.505         0              0              0              66
  11  Bread           -2.761         0.976          -0.462         0              270            0              78
  12  Bread           -4.062         0.772          -0.308         0              0              0              76
  13  Lettuce         -0.321         1.579          -0.529         0              270            0              71
  14  SaltShaker      -1.151         0.078          -3.610         0              0              0              56
  15  PepperShaker    -0.394         0.937          -1.538         0              0              0              59
  16  PepperShaker    -3.913         0.756          -3.219         0              109.125        0              77
  17  Mug             -0.334         1.281          -0.297         0              0              0              71
  18  Mug             -0.334         1.281          -0.413         0              270            0              71
  19  Apple           -0.283         1.550          -0.297         0              270            0              71
  20  SoapBottle      -4.242         0.689          -0.369         0              0              0              76
  21  Pot             -0.437         0.961          -1.845         0              180            0              42
  22  Fork            -0.315         0.941          -1.319         0              0              0              59
  23  Cup             -0.321         1.489          -0.878         0              270            0              71
  24  Tomato          -4.242         0.742          -0.187         0              0              0              76
  25  Pan             -0.222         0.961          -2.243         0              0              0              60
  26  Plate           -3.175         0.774          -3.174         0              244.125        0              77
  27  Bread           -3.565         0.976          -0.462         0              270            0              78
  28  Spatula         -0.157         0.956          -1.538         0              0              0              59
  29  Knife           -3.364         0.920          -0.290         0              270            0              78
  30  SaltShaker      -3.706         0.756          -3.092         0              109.125        0              77
  31  PepperShaker    -1.123         0.749          -3.447         0              0              0              47
  32  ButterKnife     -2.761         0.894          -0.204         0              270            0              78
  33  Apple           -3.642         0.821          -2.989         0              334.125        0              77
  34  DishSponge      -0.524         0.746          -1.375         0              0              0              45
  35  Potato          -0.397         1.520          -0.994         0              270            0              71
  36  Egg             -3.565         0.935          -0.204         0              270            0              78
  37  Spoon           -3.942         0.692          -0.491         0              0              0              76
  38  Lettuce         -2.560         0.985          -0.290         0              270            0              78
  39  Mug             -3.882         0.685          -0.126         0              0              0              76
  40  Bowl            -2.962         0.892          -0.633         0              270            0              78
  41  CounterTop      -1.937         0.977          -3.673         0              0              0
  42  StoveBurner     -0.437         0.924          -1.845         0              180            0
  43  StoveBurner     -0.222         0.924          -1.845         0              180            0
  44  StoveBurner     -0.437         0.924          -2.243         0              0              0
  45  Drawer          -0.500         0.779          -1.450         0              0              0
  46  Drawer          -0.481         0.777          -2.739         0              0              0
  47  Drawer          -1.154         0.782          -3.499         0              0              0
  48  Cabinet         -0.337         2.110          -0.390         0              0              0
  49  Cabinet         -0.337         2.110          -1.272         0              0              0
  50  Cabinet         -0.337         2.110          -1.631         0              0              0
  51  Cabinet         -0.337         2.110          -2.497         0              0              0
  52  Cabinet         -0.337         1.891          -1.286         0              0              0
  53  Cabinet         -0.346         1.891          -3.293         0              0              0
  54  Cabinet         -0.629         0.388          -2.513         0              0              0
  55  Cabinet         -0.633         0.388          -3.008         0              0              0
  56  Cabinet         -1.010         0.388          -3.368         0              0              0
  57  Cabinet         -0.629         0.388          -1.614         0              0              0
  58  Cabinet         -0.327         1.886          -2.513         0              0              0
  59  CounterTop      -0.326         0.976          -1.450         0              0              0
  60  StoveBurner     -0.222         0.924          -2.243         0              0              0
  61  Sink            -0.600         0.929          -3.388         0              0              0
  62  StoveKnob       -0.617         0.899          -1.833         315            90             180
  63  StoveKnob       -0.617         0.899          -2.129         315            90             180
  64  StoveKnob       -0.617         0.899          -2.289         315            90             180
  65  StoveKnob       -0.617         0.899          -1.975         315            90             180
  66  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  67  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  68  Window          -1.389         1.610          -4.113         90             0              0
  69  LightSwitch     -4.372         1.493          -1.031         0              90             0
  70  SinkBasin       -0.614         0.802          -3.384         0              315            0
  71  Fridge          -0.314         0.0            -0.646         0              0              0
  72  Toaster         -1.970         0.930          -3.763         0              0              0
  73  Microwave       -0.216         1.470          -2.054         0              270            0
  74  Blinds          -1.373         2.205          -3.961         0              0              0
  75  Faucet          -0.393         0.930          -3.614         270            225            0
  76  SideTable       -4.030         0.002          -0.301         0              185.034        0
  77  DiningTable     -3.586         0.000          -3.258         0              0              0
  78  DiningTable     -3.224         -0.003         -0.453         0              0              0
  79  Shelf           -4.030         0.259          -0.301         0              185.034        0
  80  Shelf           -4.030         0.489          -0.301         0              185.034        0
  81  EastWall
  82  EastWall
  83  SouthWall

Plan:
STEP 1: Turn around and cross the room to the left to face the small black table. | STEP 2: Pick up the spoon on the small black table. | STEP 3: Look up to face the cup on the small black table. | STEP 4: Place the spoon in the cup. | STEP 5: Pick up the cup on the small black table. | STEP 6: Turn around and walk forward to face the kitchen table. | STEP 7: Place the cup on the kitchen table. | END