Task: Put the white cup with spoon on the shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.869          -0.5           0              90             0
   1  Potato          0.746          0.698          -1.958         0              270            0              67
   2  DishSponge      0.601          0.664          0.508          0              0              0              52
   3  DishSponge      0.655          0.883          -0.108         0              0              0              47
   4  ButterKnife     0.720          0.759          -0.124         0              0              0              46
   5  Spatula         -1.886         0.716          -1.307         0              180            0              83
   6  Spatula         0.866          0.774          0.002          0              270            0              46
   7  Spoon           0.720          0.760          0.002          0              0              0              46
   8  Fork            0.877          0.884          -0.245         0              0              0              47
   9  Fork            0.623          0.761          -0.124         0              90             0              46
  10  Cup             0.672          0.771          -0.790         0              270            0              70
  11  Knife           0.574          0.783          -0.188         0              90             0              46
  12  Knife           0.841          0.688          0.387          0              0              0              52
  13  Tomato          0.746          0.514          -1.725         0              270            0              67
  14  SoapBottle      -1.056         0.899          1.101          0              270            0              73
  15  SoapBottle      -2.054         0.701          -1.091         0              0              0              83
  16  Bowl            0.858          1.462          -0.207         0              0              0              58
  17  PepperShaker    0.721          0.660          0.569          0              0              0              52
  18  PepperShaker    0.676          0.012          -0.898         0              0              0              50
  19  Bread           -1.056         0.944          0.843          0              270            0              73
  20  Lettuce         0.149          0.987          1.101          0              270            0              73
  21  Lettuce         0.661          0.751          0.387          0              0              0              52
  22  Mug             0.841          0.767          -0.790         0              270            0              70
  23  Apple           -1.297         0.105          -3.574         0              270            0              62
  24  Apple           0.708          0.519          -2.035         0              270            0              67
  25  Pot             -2.071         0.927          0.772          0              266.284        0              49
  26  Plate           0.732          0.019          -0.119         0              0              0              57
  27  Fork            -0.855         0.901          1.015          0              270            0              73
  28  SoapBottle      -1.578         0.699          -3.614         0              0              0              74
  29  Apple           0.669          1.428          -1.880         0              270            0              67
  30  Pan             -1.555         0.930          1.049          0              0              0              56
  31  Egg             0.961          0.702          0.265          0              0              0              52
  32  Spatula         -1.719         0.716          -1.524         0              0              0              83
  33  Potato          0.824          1.407          -1.880         0              270            0              67
  34  Cup             0.669          0.663          -1.725         0              270            0              67
  35  SaltShaker      0.781          0.660          0.448          0              0              0              52
  36  PepperShaker    -1.556         0.692          -3.361         0              0              0              74
  37  ButterKnife     0.950          0.883          0.029          0              0              0              47
  38  DishSponge      -1.578         0.699          -3.445         0              0              0              74
  39  Bread           -0.252         0.944          0.929          0              270            0              73
  40  Lettuce         0.901          0.751          0.569          0              0              0              52
  41  Tomato          -1.556         0.744          -3.782         0              0              0              74
  42  Spoon           0.715          0.773          -0.680         0              270            0              70
  43  Knife           -1.803         0.724          -1.091         0              0              0              83
  44  Mug             0.812          1.458          0.473          0              0              0              59
  45  Bowl            0.746          1.157          -1.958         0              270            0              67
  46  Drawer          0.706          0.766          -0.125         0              0              0
  47  CounterTop      0.792          0.919          -0.108         0              0              0
  48  Mirror          1.093          1.602          -0.643         0              0              0
  49  StoveBurner     -2.096         0.890          0.785          0              0              0
  50  Cabinet         0.507          0.345          -0.426         0              0              0
  51  StoveBurner     -1.552         0.890          0.785          0              0              0
  52  SideTable       0.770          -0.030         0.443          0              0              0
  53  Sink            0.753          0.882          -0.680         0              0              0
  54  StoveBurner     -2.096         0.890          1.049          0              0              0
  55  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  56  StoveBurner     -1.554         0.890          1.049          0              0              0
  57  Cabinet         0.507          0.345          0.156          0              0              0
  58  Cabinet         0.717          1.822          -0.398         0              0              0
  59  Cabinet         0.717          1.822          0.669          0              0              0
  60  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  61  Toaster         -0.522         0.886          1.081          0              180            0
  62  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  63  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  64  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  65  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  66  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  67  Fridge          0.680          -0.031         -1.957         0              0              0
  68  Window          -2.424         1.639          -2.453         90             270            0
  69  Microwave       -1.994         0.690          -3.651         0              0              0
  70  SinkBasin       0.757          0.762          -0.688         0              270            0
  71  LightSwitch     1.102          1.368          -3.737         0              270            0
  72  Shelf           -0.350         0.124          0.857          0              0              0
  73  DiningTable     -0.350         -0.025         0.857          0              0              0
  74  DiningTable     -1.909         -0.032         -3.507         0              0              0
  75  Blinds          -2.343         2.151          -2.437         0              270            0
  76  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  77  AluminumFoil    0.751          0.225          0.287          0              0              0
  78  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  79  Shelf           0.771          0.226          0.445          0              0              0
  80  Shelf           0.771          0.456          0.446          0              0              0
  81  Faucet          1.025          0.873          -0.678         270            180            0
  82  Shelf           -0.350         0.497          0.857          0              0              0
  83  DiningTable     -1.929         -0.035         -1.398         0              90             0
  84  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Walk to the right a little, to the sink | STEP 2: Grab the spoon from the sink | STEP 3: Put the spoon in the cup behind | STEP 4: Take the cup with the spoon | STEP 5: Turn around and turn around to the black shelf by the counter | STEP 6: Put the cup with the spoon by the green sponge on the shelf | END