Task: put a spoon in to a coffee mug 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           -0.75          0.900          1.5            0              90             0
   1  Potato          1.836          0.847          -0.458         0              270            0              86
   2  ButterKnife     -1.330         0.901          -0.292         0              0              0              72
   3  ButterKnife     -0.053         0.697          0.181          0              180            0              78
   4  Spatula         -1.138         0.926          -1.929         0              0              0              79
   5  Spoon           -0.375         1.132          0.441          0              0              0              75
   6  Spoon           -0.759         0.693          -1.935         0              90             0              49
   7  Egg             0.969          0.944          -1.929         0              0              0              79
   8  Egg             -0.290         0.797          -1.897         0              0              0              89
   9  Knife           -0.777         0.934          -1.845         0              0              0              79
  10  Knife           -0.205         0.937          0.083          0              0              0              72
  11  SoapBottle      2.002          0.063          0.080          0              0              0              82
  12  Tomato          -0.031         0.812          -1.952         0              0              0              89
  13  Bowl            2.798          0.549          0.090          0              180            0              85
  14  SaltShaker      -0.119         0.691          0.056          0              180            0              78
  15  SaltShaker      1.805          1.648          -1.475         0              0              0              57
  16  PepperShaker    3.002          0.876          0.114          0              180            0              83
  17  Lettuce         1.891          0.893          -0.737         0              270            0              86
  18  Lettuce         -1.322         0.987          -1.469         0              0              0              79
  19  Mug             1.836          1.093          -0.644         0              270            0              86
  20  Apple           2.055          1.147          -0.365         0              270            0              86
  21  Pan             -1.289         0.957          -1.02          0              0              0              69
  22  Knife           -0.376         0.786          -1.952         0              270            0              89
  23  Bowl            2.000          0.814          -0.551         0              270            0              86
  24  Fork            0.071          1.132          0.573          0              0              0              75
  25  Cup             0.101          0.750          -1.938         0              0              0              89
  26  Ladle           -0.849         0.950          0.135          0              0              0              72
  27  Apple           1.884          0.111          0.109          0              0              0              82
  28  Kettle          -1.056         0.956          -0.672         0              180            0              51
  29  Vase            0.563          1.662          -2.161         0              0              0              59
  30  Potato          -0.420         0.943          0.241          0              0              0              72
  31  Pot             -1.289         0.957          -0.756         0              180            0              54
  32  Bread           -1.148         0.981          -0.193         0              0              0              72
  33  Plate           1.846          1.013          -1.245         0              270            0              84
  34  Spatula         -0.822         1.146          0.662          0              180            0              75
  35  PaperTowelRoll  -1.045         1.235          0.573          0              90             0              75
  36  Vase            2.699          0.869          0.182          0              0              0              83
  37  Egg             2.055          0.850          -0.271         0              270            0              86
  38  SoapBottle      -0.375         1.131          0.662          0              0              0              75
  39  SaltShaker      -1.117         0.125          -1.465         0              0              0              65
  40  Lettuce         2.000          1.504          -0.551         0              270            0              86
  41  PepperShaker    -0.997         0.909          -0.170         0              0              0              72
  42  ButterKnife     -0.777         0.911          -1.845         0              0              0              79
  43  DishSponge      -0.623         0.691          -1.891         0              0              0              49
  44  Vase            2.979          0.539          0.128          0              0              0              85
  45  Spoon           0.055          0.764          -2.063         0              270            0              89
  46  Tomato          -0.152         1.181          0.485          0              0              0              75
  47  Mug             0.501          0.955          -1.900         0              0              0              95
  48  Statue          0.008          0.920          0.241          0              180            0              72
  49  Drawer          -0.819         0.75           -1.690         0              0              0
  50  Cabinet         -1.149         2.264          -0.838         0              90             0
  51  StoveBurner     -1.056         0.949          -0.671         0              180            0
  52  Cabinet         1.738          2.019          -2.000         0              0              0
  53  Cabinet         1.389          0.469          -1.059         0              0              0
  54  StoveBurner     -1.289         0.949          -0.755         0              180            0
  55  Faucet          -0.157         1.052          -2.196         0              270            0
  56  Cabinet         1.75           2.019          -1.029         0              0              0
  57  Cabinet         1.75           2.019          -1.399         0              0              0
  58  Cabinet         1.179          2.019          -2.0           0              0              0
  59  Cabinet         0.199          2.019          -2.0           0              0              0
  60  Cabinet         -1.100         2.019          -2.0           0              0              0
  61  Cabinet         -1.149         2.019          -1.979         0              0              0
  62  Cabinet         -1.149         2.019          -0.770         0              0              0
  63  Cabinet         -1.149         2.019          0.380          0              0              0
  64  Cabinet         -0.819         0.469          -1.689         0              0              0
  65  Cabinet         -0.839         0.469          -1.664         0              0              0
  66  Cabinet         -0.839         0.469          -0.049         0              0              0
  67  Cabinet         -0.414         0.370          -0.009         0              0              0
  68  Sink            -0.118         0.875          -2.009         0              0              0
  69  StoveBurner     -1.289         0.949          -1.019         0              0              0
  70  Cabinet         0.119          2.264          -2.0           0              0              0
  71  Cabinet         -0.459         2.264          -2.0           0              0              0
  72  CounterTop      -0.665         0.949          0.188          0              0              0
  73  Drawer          -0.449         0.75           -0.010         0              180            0
  74  Cabinet         -0.450         0.469          -0.009         0              0              0
  75  CounterTop      -0.630         1.167          0.573          0              0              0
  76  StoveBurner     -1.056         0.949          -1.126         0              0              0
  77  Cabinet         1.376          0.460          -1.685         0              0              0
  78  Drawer          -0.070         0.75           -0.009         0              180            0
  79  CounterTop      1.159          0.946          -2.013         0              0              0
  80  Cabinet         -1.150         2.264          -1.418         0              90             0
  81  HousePlant      -1.246         1.108          0.606          0              0              0
  82  GarbageCan      1.923          -0.010         0.137          0              0              0
  83  Shelf           2.759          0.880          0.144          0              0              0
  84  Microwave       1.827          0.900          -1.354         0              270            0
  85  Shelf           2.759          0.552          0.145          0              0              0
  86  Fridge          1.975          0.0            -0.537         0              0              0
  87  LightSwitch     0.404          1.297          2.0            0              180            0
  88  Shelf           2.760          0.172          0.145          0              0              0
  89  SinkBasin       -0.129         0.752          -2.007         0              0              0
  90  StoveKnob       -0.873         0.903          -0.827         45             90             0
  91  StoveKnob       -0.873         0.903          -0.676         45             90             0
  92  StoveKnob       -0.873         0.903          -0.966         45             90             0
  93  StoveKnob       -0.873         0.903          -1.123         45             90             0
  94  Toaster         0.840          0.900          -2.057         0              0              0
  95  CoffeeMachine   0.501          0.900          -2.125         0              0              0
  96  ShelvingUnit    2.760          0.006          0.144          0              0              0
  97  Stool           -0.826         0.010          0.908          0              347.513        0
  98  Stool           -0.132         0.010          0.883          0              71.555         0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: move forward and turn to the right at the counter and move to the coffee machine that is on the counter to the left of the sink | STEP 2: pick up the coffee mug that is on the coffee machine | STEP 3: move to the right to face the sink | STEP 4: put the coffee mug in to the sink | STEP 5: pick up the spoon that is in the sink | STEP 6: put the spoon into the the coffee mug that is in the sink with the handle down in to the mug | END