Task: drop a plate with a spoon in it in the cupboard

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          3.5            0              0              0
   1  Pan             1.761          1.027          -1.599         0              0              0              97
   2  Ladle           2.959          1.066          -0.236         0              0              0              54
   3  Ladle           -0.669         1.066          2.556          0              0              0              57
   4  DishSponge      3.043          1.026          -0.236         0              0              0              54
   5  DishSponge      -0.661         0.800          2.372          0              0              0              60
   6  WineBottle      1.230          1.027          -1.987         0              90             0              54
   7  Glassbottle     -0.418         1.028          2.434          0              0              0              57
   8  Spatula         1.770          0.815          1.660          0              47.0           0              69
   9  Spoon           2.166          0.765          3.475          0              225            0              55
  10  Spoon           -0.920         1.028          1.821          0              0              0              57
  11  Fork            -0.418         1.028          2.189          0              0              0              57
  12  Fork            2.336          1.027          1.797          0              136.999        0              54
  13  Egg             -0.418         1.071          0.877          0              0              0              57
  14  Knife           2.707          0.826          -0.221         0              270            0              65
  15  Knife           2.426          0.789          3.735          0              45             0              55
  16  SoapBottle      2.626          0.763          3.895          0              270            0              55
  17  Bowl            2.626          0.762          4.044          0              270            0              55
  18  SaltShaker      1.495          0.787          -1.676         0              0              0              54
  19  PepperShaker    -1.187         1.023          1.058          0              0              0              57
  20  Bread           1.350          1.094          -1.454         0              90             0              54
  21  Lettuce         2.893          1.085          1.200          0              136.999        0              54
  22  Lettuce         2.599          0.822          4.32           0              0              0              55
  23  Mug             2.525          0.759          4.495          0              0              0              55
  24  Apple           -0.782         0.866          1.414          0              90             0              111
  25  Apple           -0.645         0.866          1.570          0              90             0              111
  26  Pan             -0.968         1.441          -0.295         0              180            0              98
  27  Glassbottle     2.801          0.765          3.970          0              270            0              55
  28  Knife           2.331          0.789          4.325          0              329.999        0              55
  29  SoapBottle      2.730          0.031          -0.220         0              0              0              80
  30  Egg             -1.101         0.367          -0.627         0              90             0              98
  31  Fork            -0.448         0.800          1.844          0              90             0              59
  32  Potato          -0.987         0.828          -0.738         0              90             0              98
  33  Ladle           -0.544         1.066          0.600          0              0              0              57
  34  Tomato          2.525          0.818          3.445          0              0              0              55
  35  Pot             1.334          0.023          -1.670         0              270            0              73
  36  WineBottle      -1.130         1.028          1.243          0              0              0              57
  37  Plate           -0.944         1.780          2.312          0              0              0              92
  38  Spatula         2.425          1.041          -1.667         0              270            0              54
  39  PaperTowelRoll  -1.171         1.131          1.821          0              0              0              57
  40  Lettuce         2.376          0.822          3.97           0              0              0              55
  41  Apple           -0.851         0.866          1.181          0              90             0              111
  42  SaltShaker      -0.542         0.044          2.316          0              0              0              60
  43  PepperShaker    2.542          0.760          3.810          0              329.999        0              55
  44  ButterKnife     -0.731         0.802          0.777          0              0              0              56
  45  Bread           2.840          0.832          4.359          0              225            0              55
  46  Cup             -0.987         0.784          -0.184         0              90             0              98
  47  DishSponge      2.228          0.801          1.161          0              317.0          0              67
  48  Bowl            2.790          0.762          3.529          0              329.999        0              55
  49  Spoon           -0.851         0.817          1.259          0              180            0              111
  50  Mug             -0.803         1.070          0.646          0              90             0              107
  51  Sink            -0.716         1.023          1.333          0              0              0
  52  StoveBurner     1.835          1.018          -1.840         0              90             0
  53  StoveBurner     2.177          1.018          -1.599         0              0              0
  54  CounterTop      2.812          0.992          0.675          0              0              0
  55  DiningTable     2.419          0.003          3.930          0              0              0
  56  Drawer          -0.643         0.828          0.616          0              0              0
  57  CounterTop      -0.813         1.062          2.188          0              0              0
  58  StoveBurner     2.115          1.018          -1.840         0              270            0
  59  Drawer          -0.643         0.831          1.953          0              0              0
  60  Drawer          -0.643         0.833          2.418          0              0              0
  61  Drawer          1.347          0.836          -1.539         0              0              0
  62  Drawer          2.693          0.833          -1.131         0              0              0
  63  Drawer          2.693          0.833          -0.699         0              0              0
  64  Drawer          2.693          0.833          -0.267         0              0              0
  65  Drawer          2.693          0.833          0.163          0              0              0
  66  Drawer          2.524          0.833          0.720          0              2.000          0
  67  Drawer          2.232          0.833          1.036          0              2.000          0
  68  Drawer          1.936          0.833          1.354          0              2.000          0
  69  Drawer          1.646          0.833          1.670          0              2.000          0
  70  Cabinet         1.504          2.475          -1.710         0              0              0
  71  Cabinet         -0.823         2.220          1.621          0              0              0
  72  Cabinet         -0.823         2.220          0.615          0              0              0
  73  Cabinet         1.136          0.388          -1.355         0              0              0
  74  Cabinet         -0.356         0.383          2.626          0              0              0
  75  Cabinet         2.745          2.220          -1.690         0              0              0
  76  Cabinet         1.882          0.383          1.017          0              0              0
  77  Cabinet         1.307          0.473          1.640          0              0              0
  78  Cabinet         1.892          0.383          1.006          0              0              0
  79  Cabinet         2.467          0.383          0.383          0              0              0
  80  Cabinet         2.466          0.383          -0.475         0              0              0
  81  Cabinet         2.466          0.473          0.371          0              0              0
  82  Cabinet         2.386          2.475          -1.710         0              0              0
  83  Cabinet         -0.356         0.383          1.712          0              0              0
  84  Cabinet         2.745          2.220          0.019          0              0              0
  85  Cabinet         -0.663         2.496          0.157          0              0              0
  86  Cabinet         -0.663         2.496          -0.868         0              0              0
  87  Cabinet         -0.356         0.383          0.269          0              0              0
  88  Cabinet         -0.823         2.220          1.603          0              0              0
  89  Cabinet         -0.662         2.234          0.586          0              0              0
  90  Cabinet         2.745          2.220          -0.843         0              0              0
  91  Cabinet         2.745          2.220          -0.827         0              0              0
  92  Cabinet         -0.823         2.220          2.608          0              0              0
  93  Cabinet         2.732          2.226          -1.709         0              0              0
  94  Cabinet         1.137          2.226          -1.709         0              0              0
  95  Cabinet         2.466          0.383          -0.491         0              0              0
  96  Cabinet         2.466          0.383          -1.339         0              0              0
  97  StoveBurner     1.761          1.018          -1.599         0              0              0
  98  Fridge          -0.908         0.0            -0.405         0              0              0
  99  HousePlant      2.517          1.016          1.822          0              0              0
 100  Microwave       1.939          1.745          -1.826         0              0              0
 101  StoveKnob       2.017          1.041          -1.514         0              180            180
 102  StoveKnob       1.934          1.041          -1.514         0              180            180
 103  StoveKnob       2.017          1.041          -1.589         0              180            180
 104  StoveKnob       1.934          1.041          -1.589         0              180            180
 105  Window          1.756          1.608          4.762          90             0              0
 106  HousePlant      2.171          1.004          2.091          0              0              0
 107  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 108  LightSwitch     -0.099         1.410          -2.066         0              0              0
 109  GarbageCan      -0.951         -0.029         2.826          0              0              0
 110  Toaster         -1.007         1.018          2.238          0              90             0
 111  SinkBasin       -0.714         0.805          1.348          0              90             0
 112  Chair           1.615          0.004          4.310          0              107.976        0
 113  Faucet          -1.120         1.013          1.334          0              90             0
 114  Chair           2.759          0.004          3.086          0              358.967        0
 115
 116  NorthWall
 117  EastWall
 118  SouthWall
 119  WestWall

Plan:
STEP 1: turn around to the table | STEP 2: pick up the spoon from the table | STEP 3: move left to the table  | STEP 4: drop the spoon in the plate | STEP 5: pick up the plate from the table | STEP 6: turn around and move to the cupboard | STEP 7: drop the plate in the cupboard | END