Task: put the spoon in the wine glasses in the cabinet, move the wine glasses to the counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.901          1.5            0              90             0
   1  ButterKnife     -2.583         0.900          2.045          0              0              0              72
   2  ButterKnife     -2.789         0.900          2.573          0              0              0              72
   3  Spatula         -1.932         0.677          0.464          0              180            0              54
   4  Spoon           -2.480         0.901          2.309          0              0              0              72
   5  Spoon           -0.572         0.901          2.329          0              0              0              74
   6  Spoon           -2.037         0.929          0.602          0              0              0              51
   7  Fork            -2.628         0.936          3.673          0              0              0              58
   8  SoapBottle      -0.657         0.900          2.932          0              0              0              74
   9  Tomato          -2.764         1.250          4.501          0              90             0              68
  10  Tomato          -2.764         0.696          4.575          0              90             0              68
  11  Bowl            -2.764         0.629          4.278          0              90             0              68
  12  Bowl            -1.770         0.924          0.433          0              0              0              51
  13  SaltShaker      -0.747         1.769          0.205          0              0              0              48
  14  PepperShaker    -2.583         0.896          2.573          0              0              0              72
  15  PepperShaker    -2.583         0.896          2.441          0              0              0              72
  16  Bread           -0.314         0.957          2.530          0              0              0              74
  17  Lettuce         -2.377         0.980          2.441          0              0              0              72
  18  Apple           -0.143         0.956          2.731          0              0              0              74
  19  Egg             -2.847         1.219          4.649          0              90             0              68
  20  Plate           -1.007         0.800          0.337          0              0              0              69
  21  Fork            -0.272         0.662          0.519          0              270            0              40
  22  Bread           -2.866         0.940          1.982          0              0              0              72
  23  Apple           -2.691         0.355          4.501          0              90             0              68
  24  Lettuce         -2.686         0.980          2.309          0              0              0              72
  25  Spatula         -2.485         0.677          0.355          0              90             0              59
  26  Knife           -2.628         0.961          3.488          0              270            0              58
  27  Potato          -2.549         0.961          3.488          0              0              0              58
  28  Tomato          -2.864         0.999          3.302          0              0              0              58
  29  Cup             -2.191         1.773          0.297          0              0              0              47
  30  SaltShaker      -2.628         0.931          3.209          0              0              0              58
  31  PepperShaker    -2.892         0.896          2.309          0              0              0              72
  32  ButterKnife     -2.789         0.900          2.309          0              0              0              72
  33  SoapBottle      -0.657         0.900          3.535          0              0              0              74
  34  Pan             -0.254         0.928          4.672          0              0              0              53
  35  DishSponge      -2.815         0.053          0.284          0              26.101         0              65
  36  Pot             -0.535         0.928          4.274          0              0              0              55
  37  Spoon           -2.686         0.890          1.913          0              0              0              72
  38  Mug             -1.180         0.790          0.392          0              0              0              69
  39  Bowl            -0.297         1.015          0.203          0              0              0              70
  40  Drawer          -0.325         0.696          0.413          0              0              0
  41  Cabinet         -0.595         0.490          0.648          0              0              0
  42  Cabinet         -0.555         0.490          0.646          0              0              0
  43  Cabinet         -1.591         0.490          0.646          0              0              0
  44  Cabinet         -1.554         0.490          0.646          0              0              0
  45  Cabinet         -2.550         0.490          0.646          0              0              0
  46  Cabinet         -1.514         2.046          0.392          0              0              0
  47  Cabinet         -2.474         2.046          0.392          0              0              0
  48  Cabinet         -1.478         2.046          0.392          0              0              0
  49  Cabinet         -0.518         2.046          0.392          0              0              0
  50  Cabinet         -0.479         2.046          0.392          0              0              0
  51  CounterTop      -1.366         0.952          0.349          0              0              0
  52  Sink            -1.108         0.926          0.340          0              0              0
  53  StoveBurner     -0.254         0.922          4.672          0              0              0
  54  Drawer          -1.824         0.696          0.413          0              0              0
  55  StoveBurner     -0.535         0.922          4.274          0              0              0
  56  StoveBurner     -0.254         0.922          4.274          0              0              0
  57  StoveBurner     -0.536         0.922          4.672          0              0              0
  58  CounterTop      -2.780         0.971          3.487          0              0              0
  59  Drawer          -2.323         0.696          0.413          0              0              0
  60  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  61  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  64  Toaster         -0.286         0.861          3.520          0              270            0
  65  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  66  LightSwitch     -0.064         1.447          1.996          0              270            0
  67  Window          -3.075         1.593          1.361          90             90             0
  68  Fridge          -2.802         0.0            4.427          0              0              0
  69  SinkBasin       -1.106         0.785          0.337          0              0              0
  70  Microwave       -0.358         0.917          0.224          0              0              0
  71  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  72  DiningTable     -2.733         -0.003         2.607          0              270            0
  73  Faucet          -1.077         0.920          0.028          270            270            0
  74  DiningTable     -0.488         -0.003         3.182          0              270            0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: turn right to the counter | STEP 2: grab the spoon on the counter | STEP 3: walk to the right a little | STEP 4: put the spoon in the wine glasses in the cabinet | STEP 5: grab the wine glasses from the cabinet | STEP 6: walk to the left a little  | STEP 7: put the wine glasses on the counter | END