Task: place a plate with a spoon on it in the kitchen cupboard

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          -1.0           0              0              0
   1  Ladle           -0.542         0.087          2.417          0              0              0              56
   2  Ladle           1.925          0.803          3.895          0              270            0              51
   3  WineBottle      -0.908         1.782          0.968          0              0              0              68
   4  WineBottle      2.478          0.765          3.682          0              225            0              51
   5  Glassbottle     2.228          0.765          3.445          0              0              0              51
   6  Spoon           2.614          1.028          1.499          0              136.999        0              50
   7  Egg             2.000          1.895          -1.876         0              0              0              96
   8  Egg             -0.907         0.378          -0.295         0              90             0              94
   9  Cup             2.724          0.031          -0.740         0              0              0              76
  10  Plate           2.790          1.027          -0.846         0              0              0              50
  11  Knife           2.525          0.789          4.495          0              180            0              51
  12  Knife           2.537          0.825          -0.653         0              270            0              59
  13  Tomato          2.515          0.818          4.007          0              329.999        0              51
  14  Tomato          -0.922         1.495          -0.073         0              90             0              94
  15  SoapBottle      -0.794         1.026          2.066          0              0              0              53
  16  Bowl            2.959          1.025          -1.456         0              0              0              50
  17  SaltShaker      2.425          1.023          -1.987         0              90             0              50
  18  Lettuce         -0.645         0.874          1.181          0              90             0              107
  19  Lettuce         -0.577         0.874          1.492          0              90             0              107
  20  Mug             2.658          0.759          4.282          0              225            0              51
  21  Mug             2.293          0.759          4.127          0              225            0              51
  22  Pan             2.042          1.017          1.779          0              0              0              50
  23  Glassbottle     -1.013         1.442          -0.738         0              90             0              94
  24  Knife           2.818          0.825          -0.653         0              270            0              59
  25  SoapBottle      2.460          0.763          4.399          0              329.999        0              51
  26  Egg             -1.028         0.830          -0.184         0              90             0              94
  27  Fork            2.113          0.765          3.527          0              225            0              51
  28  Potato          -0.906         0.828          -0.627         0              90             0              94
  29  Ladle           2.650          0.840          -1.132         0              0              0              58
  30  Tomato          -0.851         0.870          1.414          0              90             0              107
  31  Pot             1.836          1.027          -1.84          0              90             0              48
  32  WineBottle      2.423          0.765          4.257          0              225            0              51
  33  Plate           2.451          0.764          3.445          0              0              0              51
  34  Spatula         2.626          0.779          3.821          0              90             0              51
  35  PaperTowelRoll  -1.171         1.131          1.943          0              0              0              53
  36  Lettuce         2.228          0.822          3.795          0              0              0              51
  37  Apple           -0.877         1.492          -0.627         0              90             0              94
  38  SaltShaker      -0.874         0.797          2.418          0              0              0              56
  39  PepperShaker    1.777          1.023          1.555          0              136.999        0              50
  40  ButterKnife     2.662          0.764          3.455          0              329.999        0              51
  41  Bread           2.621          1.094          -1.456         0              0              0              50
  42  Cup             -1.069         0.784          -0.295         0              90             0              94
  43  DishSponge      3.068          0.032          -0.323         0              0              0              76
  44  Bowl            2.763          0.762          3.726          0              329.999        0              51
  45  Spoon           -0.660         0.801          1.953          0              0              0              55
  46  Mug             2.111          0.759          4.410          0              329.999        0              51
  47  Sink            -0.716         1.023          1.333          0              0              0
  48  StoveBurner     1.835          1.018          -1.840         0              90             0
  49  StoveBurner     2.177          1.018          -1.599         0              0              0
  50  CounterTop      2.812          0.992          0.675          0              0              0
  51  DiningTable     2.419          0.003          3.930          0              0              0
  52  Drawer          -0.643         0.828          0.616          0              0              0
  53  CounterTop      -0.813         1.062          2.188          0              0              0
  54  StoveBurner     2.115          1.018          -1.840         0              270            0
  55  Drawer          -0.643         0.831          1.953          0              0              0
  56  Drawer          -0.643         0.833          2.418          0              0              0
  57  Drawer          1.347          0.836          -1.539         0              0              0
  58  Drawer          2.693          0.833          -1.131         0              0              0
  59  Drawer          2.693          0.833          -0.699         0              0              0
  60  Drawer          2.693          0.833          -0.267         0              0              0
  61  Drawer          2.693          0.833          0.163          0              0              0
  62  Drawer          2.524          0.833          0.720          0              2.000          0
  63  Drawer          2.232          0.833          1.036          0              2.000          0
  64  Drawer          1.936          0.833          1.354          0              2.000          0
  65  Drawer          1.646          0.833          1.670          0              2.000          0
  66  Cabinet         1.504          2.475          -1.710         0              0              0
  67  Cabinet         -0.823         2.220          1.621          0              0              0
  68  Cabinet         -0.823         2.220          0.615          0              0              0
  69  Cabinet         1.136          0.388          -1.355         0              0              0
  70  Cabinet         -0.356         0.383          2.626          0              0              0
  71  Cabinet         2.745          2.220          -1.690         0              0              0
  72  Cabinet         1.882          0.383          1.017          0              0              0
  73  Cabinet         1.307          0.473          1.640          0              0              0
  74  Cabinet         1.892          0.383          1.006          0              0              0
  75  Cabinet         2.467          0.383          0.383          0              0              0
  76  Cabinet         2.466          0.383          -0.475         0              0              0
  77  Cabinet         2.466          0.473          0.371          0              0              0
  78  Cabinet         2.386          2.475          -1.710         0              0              0
  79  Cabinet         -0.356         0.383          1.712          0              0              0
  80  Cabinet         2.745          2.220          0.019          0              0              0
  81  Cabinet         -0.663         2.496          0.157          0              0              0
  82  Cabinet         -0.663         2.496          -0.868         0              0              0
  83  Cabinet         -0.356         0.383          0.269          0              0              0
  84  Cabinet         -0.823         2.220          1.603          0              0              0
  85  Cabinet         -0.662         2.234          0.586          0              0              0
  86  Cabinet         2.745          2.220          -0.843         0              0              0
  87  Cabinet         2.745          2.220          -0.827         0              0              0
  88  Cabinet         -0.823         2.220          2.608          0              0              0
  89  Cabinet         2.732          2.226          -1.709         0              0              0
  90  Cabinet         1.137          2.226          -1.709         0              0              0
  91  Cabinet         2.466          0.383          -0.491         0              0              0
  92  Cabinet         2.466          0.383          -1.339         0              0              0
  93  StoveBurner     1.761          1.018          -1.599         0              0              0
  94  Fridge          -0.908         0.0            -0.405         0              0              0
  95  HousePlant      2.517          1.016          1.822          0              0              0
  96  Microwave       1.939          1.745          -1.826         0              0              0
  97  StoveKnob       2.017          1.041          -1.514         0              180            180
  98  StoveKnob       1.934          1.041          -1.514         0              180            180
  99  StoveKnob       2.017          1.041          -1.589         0              180            180
 100  StoveKnob       1.934          1.041          -1.589         0              180            180
 101  Window          1.756          1.608          4.762          90             0              0
 102  HousePlant      2.171          1.004          2.091          0              0              0
 103  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 104  LightSwitch     -0.099         1.410          -2.066         0              0              0
 105  GarbageCan      -0.951         -0.029         2.826          0              0              0
 106  Toaster         -1.007         1.018          2.238          0              90             0
 107  SinkBasin       -0.714         0.805          1.348          0              90             0
 108  Chair           1.615          0.004          4.310          0              107.976        0
 109  Faucet          -1.120         1.013          1.334          0              90             0
 110  Chair           2.759          0.004          3.086          0              358.967        0
 111
 112  NorthWall
 113  EastWall
 114  SouthWall
 115  WestWall

Plan:
STEP 1: walk to the end of the room ahead of you, then turn right and walk to the white round coffee table ahead | STEP 2: grab the spoon off of the coffee table | STEP 3: walk around to the right side of that same table | STEP 4: place the spoon on top of the white plate on the table | STEP 5: pick the plate with the spoon on it up off of the table | STEP 6: turn left and walk to the end of the kitchen counter on your left, then turn left and walk until you're just short of the fridge on your right, turn right and walk towards the end of the room  | STEP 7: place the plate in a cupboard above and to the right of the fridge | END