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          1.25           0              0              0
   1  DishSponge      -0.950         0.130          0.401          0              0              0              91
   2  ButterKnife     0.897          0.908          0.608          0              36.810         0              92
   3  ButterKnife     -0.868         0.518          -0.098         0              0              0              88
   4  Kettle          -0.420         0.902          -0.920         0              135            0              56
   5  Fork            -0.789         0.900          -0.047         0              0              0              61
   6  Fork            -0.868         0.326          0.576          0              0              0              62
   7  CellPhone       -0.684         0.704          -0.753         0              45             0              55
   8  CellPhone       -0.786         0.128          0.839          0              0              0              91
   9  Mug             3.181          1.459          -1.599         0              270            0              59
  10  Mug             1.242          1.068          -1.531         0              0              0              107
  11  Lettuce         -0.862         0.965          0.846          0              0              0              61
  12  PepperShaker    -0.236         1.259          -1.598         0              45             0              78
  13  PepperShaker    -0.745         0.514          1.168          0              0              0              49
  14  Bowl            -0.917         1.255          -0.811         0              45             0              80
  15  Bowl            -1.008         0.897          0.623          0              0              0              61
  16  SoapBottle      3.181          1.473          -1.501         0              0              0              59
  17  SoapBottle      3.208          0.110          1.519          0              225            0              102
  18  Egg             0.967          0.960          0.889          0              0              0              92
  19  Plate           -0.702         0.913          -0.726         0              45             0              61
  20  Plate           0.722          0.921          0.374          0              36.810         0              92
  21  Knife           -0.862         0.925          -0.494         0              180            0              61
  22  Plate           3.102          1.477          -1.235         0              0              0              75
  23  Glassbottle     0.258          0.901          -1.803         0              0              0              82
  24  SoapBottle      3.200          0.909          -0.698         0              0              0              60
  25  Potato          0.550          0.949          0.259          0              36.810         0              92
  26  Fork            -0.827         0.518          1.518          0              0              0              49
  27  Ladle           -0.007         0.937          -1.728         0              135            0              82
  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         -0.868         0.341          0.163          0              270            0              66
  31  Knife           0.533          0.936          0.627          0              180            0              92
  32  Lettuce         1.008          1.139          -1.503         0              0              0              107
  33  Cup             0.851          0.709          -1.433         0              0              0              107
  34  SaltShaker      2.971          0.172          -0.550         0              0              0              72
  35  Egg             -1.052         1.050          1.258          0              90             0              109
  36  PepperShaker    -0.681         0.324          -0.610         0              45             0              84
  37  ButterKnife     0.179          0.900          -1.373         0              0              0              82
  38  Apple           3.028          0.821          0.231          0              90             0              106
  39  Pan             -0.419         0.902          -1.269         0              315            0              63
  40  Bread           1.534          0.972          0.486          0              289.287        0              92
  41  CellPhone       0.830          0.908          0.171          0              36.810         0              92
  42  DishSponge      -1.080         0.899          0.399          0              0              0              65
  43  Tomato          1.086          0.750          -1.459         0              0              0              107
  44  Spoon           -0.090         0.901          -1.440         0              45             0              82
  45  Bowl            1.255          1.671          -1.619         0              0              0              52
  46  Mug             3.049          0.966          0.591          0              270            0              104
  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: Walk around the kitchen island to the counter left of the stove | STEP 2: Pick up the right most spoon from the counter | STEP 3: Turn left and walk to the fridge | STEP 4: Put the spoon into the orange mug inside the fridge | STEP 5: Pick up the mug from the fridge | STEP 6: Turn left and walk over to the sink | STEP 7: Put the mug down in the sink | END