Task: Put the wine glass with spoon on the kitchen counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.901          3.0            0              180            0
   1  Potato          -2.995         0.926          2.441          0              0              0              72
   2  Spoon           -0.218         0.663          0.355          0              0              0              40
   3  Spoon           -2.480         0.901          2.706          0              0              0              72
   4  Spoon           -1.180         0.797          0.281          0              0              0              69
   5  Fork            -2.686         0.891          1.913          0              0              0              72
   6  Fork            -0.164         0.662          0.300          0              90             0              40
   7  Egg             -2.943         0.968          3.209          0              0              0              58
   8  Knife           -2.628         0.961          3.302          0              0              0              58
   9  Knife           -0.272         0.688          0.355          0              90             0              40
  10  SoapBottle      -0.143         0.900          2.932          0              0              0              74
  11  SoapBottle      -2.628         0.935          3.766          0              90             0              58
  12  Tomato          -2.583         0.964          2.573          0              0              0              72
  13  Tomato          -0.657         0.964          2.932          0              0              0              74
  14  SaltShaker      -0.486         0.896          3.133          0              0              0              74
  15  SaltShaker      -1.637         0.924          0.602          0              0              0              51
  16  Bread           -0.228         0.957          2.329          0              0              0              74
  17  Mug             -2.356         1.768          0.160          0              0              0              47
  18  Mug             -0.657         0.895          3.334          0              0              0              74
  19  Egg             -2.480         0.933          2.573          0              0              0              72
  20  Plate           -0.572         0.904          2.329          0              0              0              74
  21  Fork            -0.326         0.662          0.519          0              270            0              40
  22  Bread           -2.865         0.940          1.982          0              0              0              72
  23  Apple           -2.583         0.956          2.045          0              0              0              72
  24  Lettuce         -2.847         1.266          4.501          0              90             0              68
  25  Spatula         -0.486         0.915          3.133          0              0              0              74
  26  Knife           -0.143         0.926          3.133          0              90             0              74
  27  Potato          -0.138         1.044          0.267          0              0              0              70
  28  Tomato          -2.377         0.964          2.441          0              0              0              72
  29  Cup             -1.248         1.773          0.251          0              0              0              48
  30  SaltShaker      -2.161         0.658          0.245          0              0              0              59
  31  PepperShaker    -2.431         0.658          0.464          0              0              0              59
  32  ButterKnife     -0.314         0.900          2.731          0              0              0              74
  33  SoapBottle      -0.858         1.773          0.160          0              0              0              49
  34  Pan             -0.250         0.926          4.651          0              0              0              53
  35  DishSponge      -2.377         0.900          2.177          0              0              0              72
  36  Pot             -0.535         0.928          4.274          0              0              0              55
  37  Spoon           -0.314         0.901          2.731          0              0              0              74
  38  Mug             -1.266         0.790          0.337          0              0              0              69
  39  Bowl            -0.921         0.792          0.337          0              0              0              69
  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: Walk forward up to the kitchen sink | STEP 2: Pick up the spoon from the kitchen sink | STEP 3: Look up at the cabinet above the sink | STEP 4: Open the cabinet above the sink and put the spoon in the wine glass | STEP 5: Pick up the wine glass from inside the cabinet | STEP 6: Move a couple feet right then turn to face the kitchen counter | STEP 7: Put the wine glass down on the kitchen counter | END