Task: put spoon into glass, take both and put into sink basin

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           0.900          -2.25          0              90             0
   1  Pencil          -2.780         0.923          -1.193         0              0              0              80
   2  Potato          -1.912         0.058          -3.690         0              0              0              71
   3  Potato          -0.254         0.828          -2.082         0              270            0              73
   4  ButterKnife     -0.671         0.915          -3.768         0              0              0              55
   5  ButterKnife     -0.222         0.905          -3.570         1.197          0              0              55
   6  Spatula         -0.743         0.914          -3.625         350.812        180            0              55
   7  Spatula         -2.552         0.938          -1.423         0              180            0              80
   8  Fork            -2.666         0.924          -1.884         0              0              0              80
   9  Spoon           -2.210         0.924          -2.115         0              0              0              80
  10  Knife           -0.743         0.931          -3.696         0              90             2.337          55
  11  Plate           -0.392         1.101          -0.560         0              270            0              72
  12  Plate           -0.422         0.083          -2.155         0              0              0              60
  13  Cup             -0.441         1.389          -0.874         0              270            0              72
  14  Cup             -2.552         0.922          -2.115         0              0              0              80
  15  Cup             -0.180         1.969          -1.773         0              0              0              57
  16  Egg             -1.204         1.663          -3.903         0              0              0              68
  17  Egg             -0.385         0.948          -3.909         0              0              0              55
  18  SoapBottle      -2.780         0.922          -2.115         0              0              0              80
  19  Tomato          -2.438         0.987          -1.193         0              0              0              80
  20  Tomato          -2.324         0.987          -1.654         0              0              0              80
  21  Bowl            -2.780         0.922          -1.423         0              0              0              80
  22  Lettuce         -0.295         1.483          -0.770         0              270            0              72
  23  Mug             -2.324         0.918          -1.423         0              0              0              80
  24  Apple           -0.436         0.989          -2.764         0              0              0              55
  25  Apple           -2.552         0.996          -0.963         0              0              0              80
  26  Lettuce         -2.562         1.002          -1.677         36.385         0              0              80
  27  Glassbottle     -2.438         0.924          -1.884         0              0              0              80
  28  Egg             -2.552         0.956          -1.423         0              0              0              80
  29  Pen             -2.160         0.919          -0.829         0              0              0              80
  30  Fork            -2.324         0.924          -2.345         0              180            0              80
  31  SoapBottle      -0.383         0.079          -1.849         0              0              0              60
  32  Pencil          -0.478         0.747          -3.297         0              270            0              66
  33  WineBottle      -2.006         0.027          -3.799         0              0              0              71
  34  Spatula         -0.3           0.915          -2.544         0              22.903         0              55
  35  Bread           -0.388         0.953          -3.628         0              0              0              55
  36  Tomato          -2.666         0.987          -1.193         0              0              0              80
  37  Pan             -2.174         0.913          -1.099         0              0              0              80
  38  Cup             -1.309         1.629          -3.903         0              0              0              68
  39  Pot             -1.515         0.935          -3.497         0              0              0              52
  40  SaltShaker      -2.780         0.919          -1.654         0              0              0              80
  41  Potato          -1.257         1.661          -3.804         0              0              0              68
  42  PepperShaker    -0.205         1.966          -1.663         0              0              0              57
  43  ButterKnife     -2.438         0.923          -2.345         0              0              0              80
  44  DishSponge      -0.720         0.746          -3.586         0              0              0              54
  45  Spoon           -2.438         0.924          -2.345         0              0              0              80
  46  Plate           -0.322         1.533          -3.610         0              45             0              63
  47  Knife           -2.438         0.946          -1.654         0              90             0              80
  48  Mug             -0.398         0.792          -2.229         0              90             0              73
  49  Bowl            -2.780         0.922          -2.345         0              0              0              80
  50  Cabinet         -0.582         0.388          -1.804         0              0              0
  51  StoveBurner     -1.515         0.928          -3.752         0              90             0
  52  StoveBurner     -1.515         0.928          -3.497         0              0              0
  53  StoveBurner     -1.129         0.928          -3.498         0              0              0
  54  Drawer          -0.749         0.779          -3.551         0              0              0
  55  CounterTop      -0.303         0.951          -2.793         0              0              0
  56  Cabinet         -0.883         2.140          -3.687         0              0              0
  57  Cabinet         -0.312         2.140          -1.543         0              0              0
  58  Sink            -0.349         0.907          -2.014         0              0              0
  59  Cabinet         -0.877         0.388          -3.422         0              0              0
  60  Cabinet         -0.582         0.388          -2.197         0              0              0
  61  Cabinet         -0.584         0.388          -3.396         0              0              0
  62  Cabinet         -0.312         2.140          -2.481         0              0              0
  63  Cabinet         -0.330         1.921          -3.390         0              0              0
  64  Cabinet         -1.764         2.140          -3.687         0              0              0
  65  StoveBurner     -1.129         0.928          -3.752         0              90             0
  66  Drawer          -0.454         0.779          -3.268         0              0              0
  67  Cabinet         -0.302         1.916          -2.501         0              0              0
  68  Microwave       -1.317         1.517          -3.801         0              1.440          0
  69  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  70  LightSwitch     -4.323         1.319          0.0            0              180            0
  71  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  72  Fridge          -0.330         0.0            -0.769         0              270            0
  73  SinkBasin       -0.350         0.786          -2.018         0              270            0
  74  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  75  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  76  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  77  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  78  Toaster         -0.181         0.903          -2.764         0              270            0
  79  Window          -2.503         1.782          -4.185         90             180            0
  80  DiningTable     -2.432         0.000          -1.694         0              270            0
  81  Shelf           -2.432         0.150          -1.694         0              270            0
  82  Blinds          -2.536         2.699          -3.959         0              0              0
  83  Faucet          -0.079         0.904          -2.034         270            180            0
  84  Chair           -3.264         0.002          -2.094         0              53.280         0
  85  Chair           -3.240         0.002          -1.253         0              117.257        0
  86  Shelf           -2.432         0.523          -1.694         0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: turn around and stop at green table | STEP 2: pick up spoon from table top | STEP 3: continue to look at green table top while looking up slightly | STEP 4: put spoon into champagne glass on green table | STEP 5: pick up champagne glass from table | STEP 6: turn around and face the kitchen sink | STEP 7: put the glass into the kitchen sink basin | END