Task: Put a cup 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           0.5            0.900          0.75           0              90             0
   1  Potato          0.844          0.947          -1.906         0              0              0              60
   2  DishSponge      -2.599         1.537          0.629          0              0              0              74
   3  DishSponge      -2.206         0.910          0.931          0              0              0              78
   4  ButterKnife     -0.081         0.910          1.540          0              0              0              50
   5  Fork            -0.341         0.911          1.317          0              90             0              50
   6  Fork            0.798          0.911          -1.650         0              45             0              60
   7  Spoon           1.512          0.912          0.494          0              0              0              59
   8  Spoon           -2.287         0.774          0.809          0              90             0              55
   9  Spoon           1.491          0.912          -0.740         0              45             0              60
  10  Pot             1.411          0.929          0.064          0              0              0              79
  11  Egg             -2.455         0.941          0.631          0              0              0              78
  12  Plate           -0.471         0.913          1.094          0              0              0              50
  13  Knife           -2.196         0.798          1.322          0              90             0              81
  14  SoapBottle      1.729          0.187          0.651          0              0              0              89
  15  Bowl            -2.466         0.591          -0.603         0              90             0              82
  16  Bowl            -2.372         0.908          0.931          0              0              0              78
  17  PepperShaker    -2.237         0.109          -0.122         0              0              0              66
  18  PepperShaker    1.807          1.651          0.092          0              0              0              69
  19  Lettuce         -2.372         0.994          1.530          0              0              0              78
  20  Lettuce         -0.341         0.994          0.647          0              0              0              50
  21  Bread           0.048          0.996          0.647          0              0              0              50
  22  Bread           -2.206         0.996          0.631          0              0              0              78
  23  Mug             -2.485         1.295          -0.602         0              90             0              82
  24  Mug             -2.513         0.589          -0.783         0              0              0              82
  25  Apple           0.765          0.972          -1.478         0              45             0              60
  26  Apple           -2.603         1.077          2.481          0              90             0              90
  27  Pan             0.0            0.9            0.948          0              29.999         0              50
  28  Knife           -2.372         0.936          1.830          0              180            0              78
  29  Apple           1.562          0.246          0.706          0              0              0              89
  30  Bowl            -2.455         0.908          1.230          0              0              0              78
  31  Fork            1.684          0.911          -0.851         0              0              0              60
  32  Bread           -0.341         0.996          1.764          0              0              0              50
  33  Plate           -2.351         0.900          0.054          0              0              0              78
  34  Egg             1.729          0.215          0.761          0              0              0              89
  35  Kettle          0.445          1.664          -1.766         0              90             0              57
  36  Potato          -2.635         1.051          2.278          0              90             0              90
  37  SaltShaker      0.585          0.905          -1.369         0              0              0              60
  38  Lettuce         0.048          0.994          1.317          0              0              0              50
  39  Cup             1.771          1.654          0.239          0              0              0              69
  40  SoapBottle      1.855          0.913          0.406          0              0              0              59
  41  Spatula         1.600          0.925          -1.046         0              45             0              64
  42  PaperTowelRoll  -2.455         1.015          0.331          0              0              0              78
  43  ButterKnife     -2.372         0.910          1.230          0              0              0              78
  44  PepperShaker    0.229          1.658          -1.766         0              90             0              57
  45  DishSponge      -2.621         0.910          0.931          0              0              0              78
  46  Pot             1.691          0.929          -0.335         0              0              0              58
  47  Spoon           -2.227         0.775          -0.121         0              90             0              68
  48  Tomato          -0.601         0.953          1.317          0              0              0              50
  49  Mug             -2.532         1.084          -0.696         0              90             0              82
  50  CounterTop      -0.360         0.946          1.093          0              0              0
  51  StoveBurner     1.412          0.923          -0.335         0              0              0
  52  StoveKnob       1.878          1.093          0.018          287.989        90             0
  53  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  54  Cabinet         -2.446         1.948          2.924          0              0              0
  55  Drawer          -2.276         0.792          0.902          0              0              0
  56  Cabinet         -2.145         0.402          1.578          0              0              0
  57  Cabinet         0.149          2.008          -1.603         0              90             0
  58  StoveBurner     1.691          0.923          -0.335         0              0              0
  59  CounterTop      1.585          0.946          0.405          0              0              0
  60  CounterTop      0.474          0.946          -1.625         0              0              0
  61  StoveBurner     1.691          0.923          0.064          0              0              0
  62  Cabinet         -2.446         1.948          1.687          0              0              0
  63  Cabinet         -2.446         1.948          1.640          0              0              0
  64  Sink            1.381          0.810          -1.271         0              225            0
  65  StoveKnob       1.878          1.093          0.150          287.989        90             0
  66  Cabinet         -2.145         0.402          -0.236         0              0              0
  67  Drawer          -2.276         0.792          0.437          0              0              0
  68  Drawer          -2.276         0.792          -0.027         0              0              0
  69  Cabinet         1.572          2.008          0.474          0              0              0
  70  Cabinet         1.572          2.008          -0.775         0              0              0
  71  Cabinet         -2.445         2.148          -1.275         0              0              0
  72  Cabinet         -2.446         2.148          -0.284         0              0              0
  73  Cabinet         -2.446         1.948          0.355          0              0              0
  74  Cabinet         -2.446         1.948          0.405          0              0              0
  75  Cabinet         -2.145         0.402          0.644          0              0              0
  76  Cabinet         -2.145         0.402          0.695          0              0              0
  77  Cabinet         -2.285         1.968          -1.325         0              180            0
  78  CounterTop      -1.485         0.946          1.319          0              0              0
  79  StoveBurner     1.411          0.923          0.064          0              0              0
  80  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  81  Drawer          -2.276         0.792          1.368          0              0              0
  82  Fridge          -2.475         0.0            -0.782         0              90             0
  83  LightSwitch     -0.929         1.350          -1.950         0              0              0
  84  Toaster         -2.564         0.900          1.876          0              90             0
  85  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  86  Window          1.508          1.534          -1.496         90             135            0
  87  Window          1.973          1.521          1.121          90             90             0
  88  SinkBasin       1.149          0.753          -1.380         0              225            0
  89  GarbageCan      1.646          -0.000         0.679          0              0              0
  90  Microwave       -2.580         0.900          2.440          0              90             0
  91  Stool           0.439          0.010          0.747          0              0              0
  92  Stool           -2.303         0.010          1.839          0              0              0
  93  Faucet          1.235          1.138          -1.473         0              225            0
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Turn right and go toward the dishwasher, then turn left to face the counter next to the stove. | STEP 2: Pick up the spoon on the counter, to the right of the stove. | STEP 3: Turn around, then go to face the stove, then look up at the cabinet above the stove, on the left. | STEP 4: Put the spoon in the cup, in the cabinet. | STEP 5: Take the cup from the cabinet. | STEP 6: Turn right and go to the sink. | STEP 7: Place the cup in the sink. | END