Task: Put the mug with spoon into the kitchen sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.930          -0.25          0              0              0
   1  Potato          0.929          1.286          -1.475         0              0              0              107
   2  DishSponge      -0.950         0.517          0.751          0              0              0              58
   3  Glassbottle     1.112          1.675          -1.759         0              0              0              52
   4  Kettle          -0.239         0.902          -1.089         0              315            0              90
   5  Spatula         1.622          0.923          0.464          0              0              0              92
   6  Spatula         -0.827         0.145          -0.186         0              270            0              81
   7  Fork            3.069          0.747          0.032          0              270            0              106
   8  CellPhone       0.022          0.897          -1.516         0              0              0              82
   9  Bread           0.622          0.989          0.426          0              0              0              92
  10  Bread           1.098          0.986          0.464          0              0              0              92
  11  Lettuce         -0.651         0.965          -0.675         0              45             0              61
  12  Lettuce         0.798          0.976          0.727          0              0              0              92
  13  SaltShaker      3.179          1.260          -0.822         0              0              0              74
  14  SaltShaker      3.393          0.897          -0.279         0              0              0              60
  15  Bowl            3.173          1.461          -1.284         0              0              0              75
  16  SoapBottle      0.063          0.909          -1.286         0              45             0              82
  17  Tomato          -0.789         0.937          0.399          0              0              0              61
  18  Tomato          2.987          0.784          0.165          0              90             0              106
  19  Cup             -1.052         0.995          1.364          0              90             0              109
  20  Knife           -0.907         0.925          -0.823         0              135            0              61
  21  Knife           -0.885         0.925          -0.643         0              135            0              61
  22  Plate           3.181          1.477          -1.648         0              0              0              59
  23  Glassbottle     3.028          0.176          -0.356         0              0              0              72
  24  SoapBottle      0.622          0.920          0.827          0              0              0              92
  25  Potato          3.152          0.785          0.098          0              90             0              106
  26  Fork            -0.991         0.707          -0.011         0              90             0              68
  27  Ladle           3.028          0.214          0.841          0              270            0              70
  28  Pot             0.423          0.900          0.869          0              0              0              92
  29  Kettle          -0.600         0.902          -1.090         0              135            0              50
  30  Spatula         -0.786         0.146          -0.098         0              0              0              81
  31  Knife           3.111          0.738          -0.454         0              90             0              57
  32  Lettuce         3.277          0.966          -0.798         0              0              0              60
  33  Cup             -0.725         0.898          -0.803         0              45             0              61
  34  SaltShaker      -0.299         1.259          -1.534         0              45             0              78
  35  Egg             -1.080         0.952          -0.047         0              0              0              61
  36  PepperShaker    0.254          1.256          -1.707         0              0              0              77
  37  ButterKnife     0.179          0.900          -1.373         0              0              0              82
  38  Apple           1.086          0.959          -1.475         0              0              0              107
  39  Pan             0.341          0.873          -1.649         0              167.065        0              82
  40  Bread           -0.789         0.979          0.176          0              0              0              61
  41  CellPhone       0.445          0.905          0.326          0              0              0              92
  42  DishSponge      3.277          0.900          -0.599         0              0              0              60
  43  Tomato          -0.935         0.937          -0.047         0              0              0              61
  44  Spoon           -0.095         0.901          -1.538         0              45             0              82
  45  Bowl            3.197          0.174          0.841          0              0              0              70
  46  Mug             -1.085         0.992          1.205          0              90             0              109
  47  Drawer          0.376          0.572          -1.509         0              0              0
  48  Drawer          3.020          0.769          -0.783         0              180            0
  49  Drawer          -0.860         0.577          1.429          0              0              0
  50  StoveBurner     -0.600         0.897          -1.090         0              135            0
  51  Drawer          0.376          0.191          -1.509         0              0              0
  52  Cabinet         1.402          1.874          -1.259         0              0              0
  53  Cabinet         -0.202         1.963          -1.328         0              0              0
  54  Drawer          -0.860         0.765          1.429          0              0              0
  55  Drawer          -0.677         0.765          -0.700         0              0              0
  56  StoveBurner     -0.420         0.897          -0.920         0              135            0
  57  Drawer          3.020          0.769          -0.407         0              180            0
  58  Drawer          -0.860         0.577          0.663          0              0              0
  59  Cabinet         2.819          1.768          -1.850         0              0              0
  60  CounterTop      3.111          0.936          0.019          0              0              0
  61  CounterTop      -1.007         0.935          -0.039         0              0              0
  62  Drawer          -0.860         0.385          0.663          0              0              0
  63  StoveBurner     -0.419         0.897          -1.269         0              315            0
  64  Drawer          -0.047         0.573          -1.324         0              0              0
  65  Drawer          -0.860         0.765          0.663          0              0              0
  66  Drawer          -0.860         0.385          -0.100         0              0              0
  67  Drawer          0.376          0.380          -1.509         0              0              0
  68  Drawer          -0.860         0.765          -0.100         0              0              0
  69  Drawer          0.376          0.765          -1.509         0              0              0
  70  Cabinet         2.849          0.419          0.409          0              0              0
  71  Drawer          -0.047         0.765          -1.324         0              0              0
  72  Cabinet         2.849          0.419          -0.610         0              0              0
  73  Cabinet         2.849          0.419          -0.959         0              0              0
  74  Cabinet         3.069          1.666          -0.709         0              0              0
  75  Cabinet         2.819          1.768          -1.047         0              0              0
  76  Cabinet         0.620          1.874          -1.259         0              0              0
  77  Cabinet         0.140          1.666          -1.559         0              0              0
  78  Cabinet         -0.189         1.666          -1.340         0              0              0
  79  Cabinet         -0.709         1.963          -0.819         0              0              0
  80  Cabinet         -0.920         1.665          -0.620         0              0              0
  81  Drawer          -0.860         0.190          -0.100         0              0              0
  82  CounterTop      0.133          0.935          -1.457         0              0              0
  83  Drawer          3.020          0.769          0.695          0              180            0
  84  Drawer          -0.677         0.577          -0.700         0              0              0
  85  Drawer          -0.860         0.190          1.429          0              0              0
  86  Drawer          -0.047         0.192          -1.324         0              0              0
  87  Drawer          -0.677         0.193          -0.700         0              0              0
  88  Drawer          -0.860         0.577          -0.100         0              0              0
  89  Sink            3.078          0.887          0.086          0              0              0
  90  StoveBurner     -0.239         0.897          -1.089         0              315            0
  91  Drawer          -0.860         0.190          0.663          0              0              0
  92  CounterTop      1.210          0.937          0.463          0              0              0
  93  Drawer          -0.047         0.381          -1.324         0              0              0
  94  Drawer          -0.677         0.387          -0.700         0              0              0
  95  Mirror          -1.295         1.630          0.045          0              0              0
  96  Drawer          -0.860         0.385          1.429          0              0              0
  97  HousePlant      3.196          0.891          -0.368         0              0              0
  98  StoveKnob       -0.090         0.790          -1.009         270            45             0
  99  StoveKnob       -0.280         0.790          -0.819         270            45             0
 100  StoveKnob       -0.180         0.790          -0.920         270            45             0
 101  StoveKnob       -0.370         0.790          -0.720         270            45             0
 102  GarbageCan      3.137          0.025          1.545          0              225            0
 103  Window          3.703          1.675          0.046          90             90             0
 104  CoffeeMachine   3.214          0.890          0.697          0              270            0
 105  LightSwitch     2.592          1.309          -1.880         0              0              0
 106  SinkBasin       3.069          0.736          0.108          0              90             0
 107  Fridge          1.008          0.029          -1.467         0              0              0
 108  Toaster         -1.035         0.873          -0.396         0              90             0
 109  Microwave       -1.034         0.874          1.428          0              90             0
 110  Faucet          3.305          0.886          0.094          270            180            0
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: Turn left and walk around into the kitchen to face the counter right of the fridge | STEP 2: Pick up the spoon from the counter | STEP 3: Walk over to the right of the stove | STEP 4: Put the spoon into the orange mug on the counter | STEP 5: Pick up the mug from the counter | STEP 6: Turn around and walk to the kitchen sink | STEP 7: Put the mug into the sink | END