Task: Put a glass with a spoon on a plate that is on a table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.901          -0.5           0              270            0
   1  Potato          -0.196         0.831          1.049          0              0              0              71
   2  DishSponge      -0.358         0.036          -0.801         0              90             0              66
   3  DishSponge      -0.068         0.746          2.129          0              0              0              43
   4  Plate           1.156          0.085          2.523          0              0              0              50
   5  Plate           0.566          0.085          2.523          0              0              0              51
   6  Knife           -0.042         0.816          0.881          0              0              0              71
   7  Tomato          2.000          1.369          -0.007         0              270            0              65
   8  Tomato          0.033          0.837          0.377          0              0              0              71
   9  PepperShaker    1.917          0.933          0.361          0              0              0              55
  10  PepperShaker    -0.042         0.785          1.217          0              0              0              71
  11  Bread           2.112          1.369          -0.369         0              270            0              65
  12  Mug             -0.294         1.030          2.014          0              90             0              69
  13  Egg             1.170          0.837          2.64           0              0              0              68
  14  Lettuce         0.277          0.989          2.611          0              60.216         0              44
  15  Fork            -0.119         0.791          1.049          0              180            0              71
  16  SoapBottle      -0.118         0.938          2.478          0              0              0              44
  17  Ladle           -0.272         0.835          0.377          0              0              0              71
  18  Ladle           -0.053         0.982          2.827          0              0              0              44
  19  Bread           2.127          1.567          -0.278         0              270            0              65
  20  SaltShaker      2.150          0.932          2.162          0              0              0              44
  21  Potato          2.132          0.378          -0.007         0              270            0              65
  22  Pan             1.928          0.070          0.640          0              0              0              41
  23  WineBottle      -0.425         0.791          1.217          0              0              0              71
  24  Spatula         1.906          0.760          0.583          0              90             0              53
  25  Knife           1.802          0.771          0.583          0              90             0              53
  26  Tomato          -0.272         0.837          1.386          0              0              0              71
  27  Apple           0.788          0.845          2.529          0              0              0              68
  28  ButterKnife     -0.196         0.791          1.386          0              0              0              71
  29  Pot             2.140          0.935          1.504          0              180            0              39
  30  PepperShaker    2.301          0.933          0.806          0              0              0              55
  31  Cup             1.844          0.935          2.063          0              0              0              44
  32  DishSponge      -0.042         0.790          0.545          0              0              0              71
  33  Plate           -0.272         0.795          0.713          0              0              0              71
  34  Spoon           1.118          0.803          2.695          0              0              0              68
  35  Mug             1.276          0.790          2.695          0              90             0              68
  36  Bowl            -0.042         0.787          0.713          0              0              0              71
  37  Cabinet         2.041          2.113          2.618          0              0              0
  38  Cabinet         0.126          0.388          1.774          0              0              0
  39  StoveBurner     2.140          0.929          1.504          0              180            0
  40  Cabinet         1.760          0.388          2.346          0              0              0
  41  Cabinet         1.760          0.388          0.869          0              0              0
  42  Cabinet         2.041          1.810          0.283          0              0              0
  43  Drawer          -0.024         0.774          2.061          0              0              0
  44  CounterTop      1.065          0.973          2.666          0              0              0
  45  Cabinet         1.969          2.113          2.618          0              0              0
  46  StoveBurner     2.140          0.929          1.106          0              0              0
  47  Cabinet         2.041          2.113          1.809          0              0              0
  48  StoveBurner     1.866          0.929          1.504          0              180            0
  49  Cabinet         2.041          2.113          1.766          0              0              0
  50  Cabinet         1.514          0.388          2.360          0              0              0
  51  Cabinet         0.351          0.388          2.360          0              0              0
  52  Cabinet         2.041          1.810          0.872          0              0              0
  53  Drawer          2.167          0.774          0.582          0              0              0
  54  Cabinet         2.041          2.113          0.892          0              0              0
  55  CounterTop      2.060          0.973          0.583          0              0              0
  56  Sink            0.935          0.936          2.646          0              0              0
  57  Curtains        0.964          2.061          2.989          0              0              0
  58  StoveBurner     1.863          0.929          1.106          0              0              0
  59  Drawer          1.911          0.774          2.060          0              0              0
  60  StoveKnob       2.326          1.092          1.610          288.013        90             0
  61  StoveKnob       2.326          1.092          1.460          288.013        90             0
  62  StoveKnob       2.326          1.092          1.210          288.013        90             0
  63  StoveKnob       2.326          1.092          1.050          288.013        90             0
  64  Toaster         2.126          0.926          0.572          0              270            0
  65  Fridge          2.104          0.0            -0.279         0              270            0
  66  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  67  LightSwitch     0.354          1.518          -1.031         0              0              0
  68  SinkBasin       0.903          0.784          2.640          0              0              0
  69  Microwave       -0.310         0.926          2.077          0              90             0
  70  CoffeeMachine   2.084          0.927          2.667          0              225            0
  71  DiningTable     -0.153         -0.000         1.073          0              270            0
  72  Faucet          1.175          0.926          2.950          270            90             0
  73  Faucet          0.686          0.926          2.950          270            90             0
  74  Chair           -0.077         0.002          0.196          0              15.000         0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: Turn right, go to the sink. | STEP 2: Take the spoon from the right sink. | STEP 3: Turn right, go to the counter to the left of the oven. | STEP 4: Put the spoon in the wine glass on the counter. | STEP 5: Take the wine glass from the counter. | STEP 6: Turn around, go to the white table on the left. | STEP 7: Put the glass on the plate above the bowl on the white table. | END