Task: Place a 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           -0.25          0.930          0.0            0              270            0
   1  Potato          -1.119         1.036          1.523          0              90             0              114
   2  Potato          0.929          1.286          -1.448         0              0              0              112
   3  Ladle           0.445          0.945          0.527          0              0              0              97
   4  DishSponge      3.084          0.175          -0.744         0              0              0              78
   5  DishSponge      -0.706         0.328          -0.682         0              45             0              99
   6  ButterKnife     -0.862         0.900          0.846          0              0              0              66
   7  Spatula         -0.789         0.915          0.623          0              0              0              66
   8  Spatula         0.533          0.923          0.627          0              270            0              97
   9  Spoon           -1.080         0.901          0.399          0              0              0              66
  10  Fork            1.229          0.908          0.747          0              0              0              97
  11  CellPhone       -0.786         0.703          1.343          0              0              0              59
  12  Mug             -1.119         0.992          1.258          0              180            0              114
  13  Apple           0.022          0.974          -1.660         0              0              0              87
  14  Apple           3.235          0.174          1.546          0              225            0              107
  15  Bread           -0.789         0.979          0.176          0              0              0              66
  16  SaltShaker      0.468          0.701          -1.475         0              0              0              74
  17  PepperShaker    0.422          0.701          -1.556         0              0              0              74
  18  PepperShaker    0.101          0.896          -1.516         0              0              0              87
  19  Bowl            -0.987         0.897          -0.746         0              45             0              66
  20  SoapBottle      1.303          1.683          -1.689         0              0              0              57
  21  Cup             0.856          1.672          -1.619         0              0              0              81
  22  Cup             0.773          0.883          -1.503         0              0              0              112
  23  Plate           0.781          0.923          0.452          0              36.810         0              97
  24  Plate           3.084          0.190          0.700          0              0              0              75
  25  Knife           -0.099         0.925          -1.635         0              135            0              87
  26  Knife           0.547          0.936          0.140          0              36.810         0              97
  27  Plate           3.141          0.188          -0.404         0              0              0              77
  28  Glassbottle     3.044          0.901          -0.798         0              0              0              65
  29  SoapBottle      3.113          1.473          -1.648         0              0              0              64
  30  Potato          -1.018         1.036          1.523          0              90             0              114
  31  Fork            -0.789         0.900          -0.270         0              90             0              66
  32  Ladle           1.229          0.947          0.464          0              0              0              97
  33  Pot             -0.420         0.902          -0.920         0              135            0              61
  34  Kettle          -0.419         0.902          -1.269         0              315            0              68
  35  Spatula         0.836          0.923          0.747          0              180            0              97
  36  Knife           -0.991         0.732          1.255          0              90             0              59
  37  Lettuce         3.07           0.818          0.098          0              90             0              111
  38  Cup             -0.985         0.995          1.364          0              90             0              114
  39  SaltShaker      -0.786         0.322          1.430          0              0              0              54
  40  Egg             0.022          0.952          -1.445         0              0              0              87
  41  PepperShaker    -0.789         0.896          -0.047         0              0              0              73
  42  ButterKnife     0.059          0.900          -1.383         0              45             0              87
  43  Apple           1.086          0.787          -1.433         0              0              0              112
  44  Pan             0.341          0.873          -1.649         0              167.065        0              87
  45  Bread           1.534          0.972          0.486          0              289.287        0              97
  46  CellPhone       -0.786         0.515          0.401          0              0              0              63
  47  DishSponge      3.200          0.900          -0.599         0              0              0              65
  48  Tomato          3.111          0.784          0.231          0              90             0              111
  49  Spoon           -0.935         0.901          0.176          0              0              0              66
  50  Bowl            -1.008         0.897          0.623          0              0              0              66
  51  Mug             3.355          0.895          -0.399         0              90             0              65
  52  Drawer          0.376          0.572          -1.509         0              0              0
  53  Drawer          3.020          0.769          -0.783         0              180            0
  54  Drawer          -0.860         0.577          1.429          0              0              0
  55  StoveBurner     -0.600         0.897          -1.090         0              135            0
  56  Drawer          0.376          0.191          -1.509         0              0              0
  57  Cabinet         1.402          1.874          -1.259         0              0              0
  58  Cabinet         -0.202         1.963          -1.328         0              0              0
  59  Drawer          -0.860         0.765          1.429          0              0              0
  60  Drawer          -0.677         0.765          -0.700         0              0              0
  61  StoveBurner     -0.420         0.897          -0.920         0              135            0
  62  Drawer          3.020          0.769          -0.407         0              180            0
  63  Drawer          -0.860         0.577          0.663          0              0              0
  64  Cabinet         2.819          1.768          -1.850         0              0              0
  65  CounterTop      3.111          0.936          0.019          0              0              0
  66  CounterTop      -1.007         0.935          -0.039         0              0              0
  67  Drawer          -0.860         0.385          0.663          0              0              0
  68  StoveBurner     -0.419         0.897          -1.269         0              315            0
  69  Drawer          -0.047         0.573          -1.324         0              0              0
  70  Drawer          -0.860         0.765          0.663          0              0              0
  71  Drawer          -0.860         0.385          -0.100         0              0              0
  72  Drawer          0.376          0.380          -1.509         0              0              0
  73  Drawer          -0.860         0.765          -0.100         0              0              0
  74  Drawer          0.376          0.765          -1.509         0              0              0
  75  Cabinet         2.849          0.419          0.409          0              0              0
  76  Drawer          -0.047         0.765          -1.324         0              0              0
  77  Cabinet         2.849          0.419          -0.610         0              0              0
  78  Cabinet         2.849          0.419          -0.959         0              0              0
  79  Cabinet         3.069          1.666          -0.709         0              0              0
  80  Cabinet         2.819          1.768          -1.047         0              0              0
  81  Cabinet         0.620          1.874          -1.259         0              0              0
  82  Cabinet         0.140          1.666          -1.559         0              0              0
  83  Cabinet         -0.189         1.666          -1.340         0              0              0
  84  Cabinet         -0.709         1.963          -0.819         0              0              0
  85  Cabinet         -0.920         1.665          -0.620         0              0              0
  86  Drawer          -0.860         0.190          -0.100         0              0              0
  87  CounterTop      0.133          0.935          -1.457         0              0              0
  88  Drawer          3.020          0.769          0.695          0              180            0
  89  Drawer          -0.677         0.577          -0.700         0              0              0
  90  Drawer          -0.860         0.190          1.429          0              0              0
  91  Drawer          -0.047         0.192          -1.324         0              0              0
  92  Drawer          -0.677         0.193          -0.700         0              0              0
  93  Drawer          -0.860         0.577          -0.100         0              0              0
  94  Sink            3.078          0.887          0.086          0              0              0
  95  StoveBurner     -0.239         0.897          -1.089         0              315            0
  96  Drawer          -0.860         0.190          0.663          0              0              0
  97  CounterTop      1.210          0.937          0.463          0              0              0
  98  Drawer          -0.047         0.381          -1.324         0              0              0
  99  Drawer          -0.677         0.387          -0.700         0              0              0
 100  Mirror          -1.295         1.630          0.045          0              0              0
 101  Drawer          -0.860         0.385          1.429          0              0              0
 102  HousePlant      3.196          0.891          -0.368         0              0              0
 103  StoveKnob       -0.090         0.790          -1.009         270            45             0
 104  StoveKnob       -0.280         0.790          -0.819         270            45             0
 105  StoveKnob       -0.180         0.790          -0.920         270            45             0
 106  StoveKnob       -0.370         0.790          -0.720         270            45             0
 107  GarbageCan      3.137          0.025          1.545          0              225            0
 108  Window          3.703          1.675          0.046          90             90             0
 109  CoffeeMachine   3.214          0.890          0.697          0              270            0
 110  LightSwitch     2.592          1.309          -1.880         0              0              0
 111  SinkBasin       3.069          0.736          0.108          0              90             0
 112  Fridge          1.008          0.029          -1.467         0              0              0
 113  Toaster         -1.035         0.873          -0.396         0              90             0
 114  Microwave       -1.034         0.874          1.428          0              90             0
 115  Faucet          3.305          0.886          0.094          270            180            0
 116  NorthWall
 117  EastWall
 118  SouthWall
 119  WestWall

Plan:
STEP 1: Take a step right. | STEP 2: Pick up the spoon on the counter. | STEP 3: Turn right and walk to the microwave. | STEP 4: Place the spoon in the gold cup in the microwave. | STEP 5: Pick up the cup | STEP 6: Walk left and around the kitchen island to the part facing the fridge. | STEP 7: Place the cup on the kitchen island to the right of the knife. | END