Task: Put a cup with a spoon in it into the sink.

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           0.901          3.75           0              180            0
   1  Potato          -2.888         1.212          4.352          0              90             0              67
   2  DishSponge      -1.138         1.773          0.160          0              0              0              47
   3  ButterKnife     -2.789         0.900          2.706          0              0              0              71
   4  ButterKnife     -0.326         0.662          0.355          0              0              0              39
   5  Spatula         -2.686         0.915          2.177          0              270            0              71
   6  Spoon           -1.094         0.797          0.281          0              180            0              68
   7  Spoon           -0.228         0.901          3.133          0              0              0              73
   8  Spoon           -1.637         0.929          0.602          0              0              0              50
   9  Egg             -0.350         1.051          0.108          0              0              0              69
  10  Cup             -2.686         0.900          2.441          0              0              0              71
  11  Knife           -2.628         0.961          3.209          0              0              0              57
  12  Knife           -0.143         0.926          3.133          0              90             0              73
  13  Bowl            -2.831         0.295          4.427          0              90             0              67
  14  Bowl            -2.764         1.182          4.427          0              90             0              67
  15  PepperShaker    -0.486         0.896          3.133          0              0              0              73
  16  Bread           -0.400         0.957          2.530          0              0              0              73
  17  Mug             -2.847         0.627          4.204          0              90             0              67
  18  Egg             -2.995         0.933          2.441          0              0              0              71
  19  Plate           -0.194         1.777          0.251          0              0              0              49
  20  Fork            -2.628         0.936          3.395          0              0              0              57
  21  Bread           -2.864         0.940          1.983          0              0              0              71
  22  Apple           -2.583         0.956          2.706          0              0              0              71
  23  Lettuce         -2.480         0.980          2.441          0              0              0              71
  24  Spatula         -2.995         0.915          2.573          0              90             0              71
  25  Knife           -2.583         0.926          2.309          0              0              0              71
  26  Potato          -0.314         0.926          3.334          0              0              0              73
  27  Tomato          -0.228         0.964          2.731          0              0              0              73
  28  Cup             -0.858         1.773          0.297          0              0              0              48
  29  SaltShaker      -0.952         0.924          0.650          0              0              0              50
  30  PepperShaker    -0.380         0.658          0.573          0              0              0              39
  31  ButterKnife     -0.228         0.900          2.530          0              0              0              73
  32  SoapBottle      -1.856         1.773          0.251          0              0              0              45
  33  Pan             -0.535         0.928          4.274          0              0              0              54
  34  DishSponge      -2.995         0.900          2.309          0              0              0              71
  35  Pot             -0.254         0.928          4.672          0              0              0              52
  36  Spoon           -2.323         0.663          0.464          0              0              0              58
  37  Mug             -0.191         1.018          0.171          0              0              0              69
  38  Bowl            -0.228         0.897          2.932          0              0              0              73
  39  Drawer          -0.325         0.696          0.413          0              0              0
  40  Cabinet         -0.595         0.490          0.648          0              0              0
  41  Cabinet         -0.555         0.490          0.646          0              0              0
  42  Cabinet         -1.591         0.490          0.646          0              0              0
  43  Cabinet         -1.554         0.490          0.646          0              0              0
  44  Cabinet         -2.550         0.490          0.646          0              0              0
  45  Cabinet         -1.514         2.046          0.392          0              0              0
  46  Cabinet         -2.474         2.046          0.392          0              0              0
  47  Cabinet         -1.478         2.046          0.392          0              0              0
  48  Cabinet         -0.518         2.046          0.392          0              0              0
  49  Cabinet         -0.479         2.046          0.392          0              0              0
  50  CounterTop      -1.366         0.952          0.349          0              0              0
  51  Sink            -1.108         0.926          0.340          0              0              0
  52  StoveBurner     -0.254         0.922          4.672          0              0              0
  53  Drawer          -1.824         0.696          0.413          0              0              0
  54  StoveBurner     -0.535         0.922          4.274          0              0              0
  55  StoveBurner     -0.254         0.922          4.274          0              0              0
  56  StoveBurner     -0.536         0.922          4.672          0              0              0
  57  CounterTop      -2.780         0.971          3.487          0              0              0
  58  Drawer          -2.323         0.696          0.413          0              0              0
  59  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  60  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  61  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  63  Toaster         -0.286         0.861          3.520          0              270            0
  64  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  65  LightSwitch     -0.064         1.447          1.996          0              270            0
  66  Window          -3.075         1.593          1.361          90             90             0
  67  Fridge          -2.802         0.0            4.427          0              0              0
  68  SinkBasin       -1.106         0.785          0.337          0              0              0
  69  Microwave       -0.358         0.917          0.224          0              0              0
  70  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  71  DiningTable     -2.733         -0.003         2.607          0              270            0
  72  Faucet          -1.077         0.920          0.028          270            270            0
  73  DiningTable     -0.488         -0.003         3.182          0              270            0
  74  NorthWall
  75  EastWall
  76  SouthWall
  77  WestWall

Plan:
STEP 1: Turn left, go toward the coffee maker, then turn left and go to the counter ahead. | STEP 2: Pick up the spoon on the counter. | STEP 3: Turn around, move forward and then turn left to face the white table. | STEP 4: Put the spoon in the cup on the white table. | STEP 5: Pick up the cup from the white table. | STEP 6: Turn left, move forward, turn left and go toward the wall, then turn right to face the sink. | STEP 7: Put the cup into the sink. | END