Task: Put a goblet with a spoon in it 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           -1.25          0.901          2.75           0              0              0
   1  Potato          -2.995         0.926          1.913          0              0              0              77
   2  Potato          -2.303         0.954          0.602          0              0              0              56
   3  DishSponge      -2.377         0.661          0.409          0              0              0              64
   4  DishSponge      -2.943         0.935          3.302          0              0              0              63
   5  ButterKnife     -2.789         0.900          1.913          0              0              0              77
   6  ButterKnife     -0.314         0.900          2.530          0              90             0              79
   7  Spatula         -0.314         0.915          2.932          0              180            0              79
   8  Spatula         -1.932         0.677          0.464          0              180            0              59
   9  Spoon           -1.637         0.929          0.518          0              0              0              56
  10  Spoon           -1.266         0.797          0.281          0              0              0              74
  11  Fork            -0.380         0.662          0.409          0              0              0              45
  12  Fork            -2.480         0.901          2.441          0              0              0              77
  13  Egg             -0.486         0.933          2.530          0              0              0              79
  14  SoapBottle      -2.706         0.935          3.209          0              0              0              63
  15  SoapBottle      -0.228         0.900          2.731          0              0              0              79
  16  Tomato          -2.377         0.964          2.573          0              0              0              77
  17  Bowl            -0.244         1.015          0.235          0              0              0              75
  18  PepperShaker    -2.686         0.896          2.045          0              0              0              77
  19  PepperShaker    -2.269         0.658          0.300          0              0              0              64
  20  Bread           -2.686         0.957          2.309          0              0              0              77
  21  Mug             -0.403         1.013          0.203          0              0              0              75
  22  Apple           -2.722         0.688          4.204          0              90             0              73
  23  Apple           -2.377         0.956          2.441          0              0              0              77
  24  Egg             -2.930         0.665          4.278          0              90             0              73
  25  Plate           -0.194         1.777          0.251          0              0              0              55
  26  Fork            -0.487         0.662          0.519          0              270            0              45
  27  Bread           -0.486         0.957          2.329          0              0              0              79
  28  Apple           -2.377         0.956          2.706          0              0              0              77
  29  Lettuce         -0.657         0.980          2.932          0              0              0              79
  30  Spatula         -0.819         0.943          0.650          0              0              0              56
  31  Knife           -0.218         0.688          0.355          0              90             0              45
  32  Potato          -2.847         1.212          4.278          0              90             0              73
  33  Tomato          -2.691         0.362          4.278          0              90             0              73
  34  Cup             -2.878         0.298          4.278          0              90             0              73
  35  SaltShaker      -0.657         0.896          3.535          0              0              0              79
  36  PepperShaker    -0.692         1.769          0.205          0              0              0              54
  37  ButterKnife     -2.892         0.900          2.573          0              0              0              77
  38  SoapBottle      -2.789         0.900          2.706          0              0              0              77
  39  Pan             -0.535         0.928          4.274          0              0              0              60
  40  DishSponge      -1.636         1.773          0.297          0              0              0              51
  41  Pot             -0.254         0.928          4.672          0              0              0              58
  42  Spoon           -1.007         0.797          0.392          0              0              0              74
  43  Mug             -1.007         0.790          0.226          0              0              0              74
  44  Bowl            -0.228         0.897          2.329          0              0              0              79
  45  Drawer          -0.325         0.696          0.413          0              0              0
  46  Cabinet         -0.595         0.490          0.648          0              0              0
  47  Cabinet         -0.555         0.490          0.646          0              0              0
  48  Cabinet         -1.591         0.490          0.646          0              0              0
  49  Cabinet         -1.554         0.490          0.646          0              0              0
  50  Cabinet         -2.550         0.490          0.646          0              0              0
  51  Cabinet         -1.514         2.046          0.392          0              0              0
  52  Cabinet         -2.474         2.046          0.392          0              0              0
  53  Cabinet         -1.478         2.046          0.392          0              0              0
  54  Cabinet         -0.518         2.046          0.392          0              0              0
  55  Cabinet         -0.479         2.046          0.392          0              0              0
  56  CounterTop      -1.366         0.952          0.349          0              0              0
  57  Sink            -1.108         0.926          0.340          0              0              0
  58  StoveBurner     -0.254         0.922          4.672          0              0              0
  59  Drawer          -1.824         0.696          0.413          0              0              0
  60  StoveBurner     -0.535         0.922          4.274          0              0              0
  61  StoveBurner     -0.254         0.922          4.274          0              0              0
  62  StoveBurner     -0.536         0.922          4.672          0              0              0
  63  CounterTop      -2.780         0.971          3.487          0              0              0
  64  Drawer          -2.323         0.696          0.413          0              0              0
  65  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  66  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  67  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  68  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  69  Toaster         -0.286         0.861          3.520          0              270            0
  70  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  71  LightSwitch     -0.064         1.447          1.996          0              270            0
  72  Window          -3.075         1.593          1.361          90             90             0
  73  Fridge          -2.802         0.0            4.427          0              0              0
  74  SinkBasin       -1.106         0.785          0.337          0              0              0
  75  Microwave       -0.358         0.917          0.224          0              0              0
  76  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  77  DiningTable     -2.733         -0.003         2.607          0              270            0
  78  Faucet          -1.077         0.920          0.028          270            270            0
  79  DiningTable     -0.488         -0.003         3.182          0              270            0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn around and face the kitchen counter | STEP 2: Pick up a spoon from the kitchen counter | STEP 3: Turn around and walk to the fridge, then turn to your left | STEP 4: Open the fridge door and put the spoon into the goblet | STEP 5: Pick up the goblet with the spoon in it and close the fridge | STEP 6: Turn around and face the kitchen table | STEP 7: Place the goblet with the spoon in it onto the kitchen table | END