Task: Place a mug with a spoon in it in 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           -1.5           0.900          -1.25          0              270            0
   1  Potato          -2.513         0.631          -0.872         0              90             0              71
   2  ButterKnife     -0.471         0.910          0.647          0              0              0              39
   3  Kettle          1.691          0.929          0.064          0              0              0              50
   4  Fork            -2.379         0.773          -0.025         0              90             0              57
   5  Fork            1.769          0.911          0.494          0              0              0              48
   6  Pot             1.411          0.929          0.064          0              0              0              68
   7  Cup             0.585          0.908          -1.369         0              0              0              49
   8  Cup             -2.532         1.298          -0.979         0              90             0              71
   9  Cup             -2.439         1.298          -0.696         0              90             0              71
  10  Knife           1.391          0.943          -1.061         0              225            0              53
  11  SoapBottle      1.604          0.187          0.651          0              0              0              78
  12  SoapBottle      -2.560         1.539          2.201          0              0              0              51
  13  PepperShaker    -2.496         1.928          -1.207         0              270            0              60
  14  PepperShaker    1.855          0.906          0.376          0              0              0              48
  15  Bread           -2.289         0.996          1.230          0              0              0              67
  16  Pan             0.0            0.9            0.948          0              29.999         0              39
  17  Knife           1.256          0.943          -1.196         0              225            0              53
  18  Apple           0.048          0.972          0.647          0              0              0              39
  19  Bowl            1.734          1.653          0.165          0              0              0              58
  20  Fork            -0.601         0.911          0.647          0              0              0              39
  21  Bread           -2.455         0.996          0.931          0              0              0              67
  22  Plate           -0.081         0.913          0.423          0              0              0              39
  23  Egg             1.434          0.949          -1.158         0              225            0              53
  24  Kettle          0.854          0.900          -1.790         0              0              0              49
  25  Potato          -2.603         1.034          2.380          0              90             0              79
  26  SaltShaker      -2.372         0.905          0.631          0              0              0              67
  27  Lettuce         -0.730         0.994          0.870          0              0              0              39
  28  Cup             0.660          1.661          -1.766         0              90             0              46
  29  SoapBottle      1.697          1.658          -0.055         0              0              0              58
  30  Spatula         -2.455         0.925          0.031          0              180            0              67
  31  PaperTowelRoll  1.729          0.289          0.679          0              0              0              78
  32  ButterKnife     -2.621         0.910          0.031          0              0              0              67
  33  PepperShaker    -2.310         0.109          0.126          0              0              0              55
  34  DishSponge      -2.287         0.773          0.439          0              0              0              56
  35  Pot             -2.538         0.914          1.230          0              0              0              67
  36  Spoon           1.810          0.912          -0.832         0              0              0              49
  37  Tomato          -2.532         1.342          -0.507         0              90             0              71
  38  Mug             0.464          0.955          -1.593         0              0              0              49
  39  CounterTop      -0.360         0.946          1.093          0              0              0
  40  StoveBurner     1.412          0.923          -0.335         0              0              0
  41  StoveKnob       1.878          1.093          0.018          287.989        90             0
  42  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  43  Cabinet         -2.446         1.948          2.924          0              0              0
  44  Drawer          -2.276         0.792          0.902          0              0              0
  45  Cabinet         -2.145         0.402          1.578          0              0              0
  46  Cabinet         0.149          2.008          -1.603         0              90             0
  47  StoveBurner     1.691          0.923          -0.335         0              0              0
  48  CounterTop      1.585          0.946          0.405          0              0              0
  49  CounterTop      0.474          0.946          -1.625         0              0              0
  50  StoveBurner     1.691          0.923          0.064          0              0              0
  51  Cabinet         -2.446         1.948          1.687          0              0              0
  52  Cabinet         -2.446         1.948          1.640          0              0              0
  53  Sink            1.381          0.810          -1.271         0              225            0
  54  StoveKnob       1.878          1.093          0.150          287.989        90             0
  55  Cabinet         -2.145         0.402          -0.236         0              0              0
  56  Drawer          -2.276         0.792          0.437          0              0              0
  57  Drawer          -2.276         0.792          -0.027         0              0              0
  58  Cabinet         1.572          2.008          0.474          0              0              0
  59  Cabinet         1.572          2.008          -0.775         0              0              0
  60  Cabinet         -2.445         2.148          -1.275         0              0              0
  61  Cabinet         -2.446         2.148          -0.284         0              0              0
  62  Cabinet         -2.446         1.948          0.355          0              0              0
  63  Cabinet         -2.446         1.948          0.405          0              0              0
  64  Cabinet         -2.145         0.402          0.644          0              0              0
  65  Cabinet         -2.145         0.402          0.695          0              0              0
  66  Cabinet         -2.285         1.968          -1.325         0              180            0
  67  CounterTop      -1.485         0.946          1.319          0              0              0
  68  StoveBurner     1.411          0.923          0.064          0              0              0
  69  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  70  Drawer          -2.276         0.792          1.368          0              0              0
  71  Fridge          -2.475         0.0            -0.782         0              90             0
  72  LightSwitch     -0.929         1.350          -1.950         0              0              0
  73  Toaster         -2.564         0.900          1.876          0              90             0
  74  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  75  Window          1.508          1.534          -1.496         90             135            0
  76  Window          1.973          1.521          1.121          90             90             0
  77  SinkBasin       1.149          0.753          -1.380         0              225            0
  78  GarbageCan      1.646          -0.000         0.679          0              0              0
  79  Microwave       -2.580         0.900          2.440          0              90             0
  80  Stool           0.439          0.010          0.747          0              0              0
  81  Stool           -2.303         0.010          1.839          0              0              0
  82  Faucet          1.235          1.138          -1.473         0              225            0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: turn around and cross the room to the counter between the stove and the sink | STEP 2: take the spoon from the counter | STEP 3: turn around and move forward slightly. Stop when you are next to the coffee maker, and turn to face it. | STEP 4: put the spoon in the mug on the counter | STEP 5: take the mug with the spoon in it | STEP 6: return to the corner between the sink and the stove. Turn to face the sink | STEP 7: place the mug in the right-hand sink | END