Task: Put the mug with spoon 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           -1.0           0.899          2.0            0              0              0
   1  ButterKnife     -1.777         0.923          1.951          0              0              0              61
   2  WineBottle      -0.334         0.926          5.932          0              0              0              64
   3  WineBottle      -4.478         0.924          3.548          0              0              0              79
   4  Pot             -2.469         0.930          1.712          0              270            0              94
   5  Fork            -4.411         0.924          5.418          0              90             0              79
   6  Fork            -4.249         0.754          2.590          0              90             0              59
   7  Spoon           -4.196         0.792          3.159          0              270            0              111
   8  Spatula         -0.258         0.940          5.273          0              0              0              64
   9  Spatula         -0.334         0.940          4.944          0              180            0              64
  10  Egg             -4.271         0.826          3.347          0              270            0              111
  11  Egg             -0.295         1.106          3.726          0              270            0              112
  12  Plate           -4.089         0.078          4.813          0              0              0              72
  13  Plate           -0.488         0.925          4.615          0              0              0              64
  14  Knife           -4.108         0.953          4.640          0              270            0              79
  15  SoapBottle      -0.565         0.924          5.273          0              0              0              64
  16  SoapBottle      -2.109         0.923          2.026          0              0              0              61
  17  Bowl            -2.026         0.920          1.8            0              0              0              61
  18  Bowl            -0.259         1.332          3.974          0              270            0              112
  19  SaltShaker      -1.860         0.919          1.8            0              0              0              61
  20  SaltShaker      -2.015         0.743          2.015          0              0              0              77
  21  PepperShaker    -3.798         0.742          1.985          0              0              0              56
  22  Lettuce         -3.748         0.164          6.416          0              270            0              105
  23  Bread           -1.610         1.003          1.724          0              0              0              61
  24  Bread           -0.411         1.004          4.944          0              0              0              64
  25  Mug             -1.753         1.448          1.703          0              0              0              98
  26  Mug             -0.409         0.955          6.557          0              270            0              100
  27  Apple           -0.301         1.739          3.915          0              270            0              112
  28  Apple           -4.159         0.844          3.347          0              270            0              111
  29  Egg             -0.218         1.371          3.231          0              270            0              112
  30  Apple           -3.135         0.976          5.566          0              90             0              79
  31  Knife           -3.255         0.953          5.106          0              180            0              79
  32  Potato          -2.740         1.579          1.698          0              0              0              109
  33  Fork            -1.943         0.924          1.875          0              180            0              61
  34  Bowl            -3.163         0.076          5.155          0              90             0              57
  35  Plate           -4.132         0.078          2.327          0              0              0              89
  36  Lettuce         -3.733         1.018          5.489          0              90             0              79
  37  Bread           -3.859         1.003          1.648          0              0              0              79
  38  Tomato          -3.255         0.980          5.489          0              90             0              79
  39  WineBottle      -0.258         0.926          5.603          0              0              0              64
  40  Spatula         -0.181         0.940          4.615          0              0              0              64
  41  PaperTowelRoll  -0.565         1.029          5.603          0              0              0              64
  42  Cup             -2.013         0.080          2.010          0              0              0              95
  43  Pencil          -0.473         0.747          6.645          0              270            0              99
  44  Pan             -2.454         0.933          2.023          0              240.000        0              67
  45  Pot             -2.924         0.930          1.712          0              180            0              76
  46  SaltShaker      -1.676         1.449          1.573          0              0              0              98
  47  SoapBottle      -1.981         1.452          1.605          0              0              0              98
  48  PepperShaker    -3.801         0.743          5.133          0              180            0              82
  49  ButterKnife     -4.132         0.755          2.679          0              0              0              59
  50  DishSponge      -3.925         1.458          5.438          0              90             0              83
  51  Spoon           -3.613         0.924          5.182          0              90             0              79
  52  Mug             -1.860         0.918          1.648          0              0              0              61
  53  Cabinet         -3.203         1.931          1.777          0              0              0
  54  Cabinet         -3.187         0.390          2.089          0              0              0
  55  Cabinet         -0.637         0.387          6.882          0              180            0
  56  Drawer          -3.797         0.781          1.961          0              0              0
  57  Cabinet         -3.036         0.387          5.029          0              90             0
  58  Drawer          -0.509         0.775          5.268          0              270            0
  59  Drawer          -4.125         0.798          2.499          0              0              0
  60  Cabinet         -0.331         2.249          4.308          0              180            0
  61  CounterTop      -1.872         0.958          1.799          0              0              0
  62  StoveBurner     -2.924         0.924          2.012          0              0              0
  63  Cabinet         -0.331         2.249          6.806          0              180            0
  64  CounterTop      -0.345         0.960          5.603          0              0              0
  65  Cabinet         -3.039         1.935          5.321          0              90             0
  66  Cabinet         -3.922         0.397          2.088          0              0              0
  67  StoveBurner     -2.467         0.924          2.012          0              0              0
  68  Cabinet         -0.331         2.249          5.505          0              180            0
  69  Drawer          -0.509         0.775          4.617          0              270            0
  70  Drawer          -3.509         0.777          5.157          0              180            0
  71  Cabinet         -3.961         0.388          2.878          0              0              0
  72  Cabinet         -3.961         0.388          4.342          0              0              0
  73  Cabinet         -0.637         0.387          5.582          0              180            0
  74  Cabinet         -0.637         0.388          4.299          0              180            0
  75  Cabinet         -0.637         0.388          5.599          0              180            0
  76  StoveBurner     -2.924         0.924          1.712          0              180            0
  77  Drawer          -1.859         0.775          1.961          0              0              0
  78  Cabinet         -0.331         2.249          5.609          0              180            0
  79  CounterTop      -4.260         0.958          4.943          0              90             0
  80  Cabinet         -4.284         1.931          2.226          0              0              0
  81  Cabinet         -0.331         2.249          3.010          0              180            0
  82  Drawer          -3.801         0.777          5.157          0              180            0
  83  Cabinet         -4.112         1.935          5.321          0              90             0
  84  Cabinet         -3.968         0.388          3.662          0              0              0
  85  Drawer          -3.418         0.777          1.961          0              0              0
  86  Drawer          -4.090         0.777          4.661          0              90             0
  87  Faucet          -4.441         0.909          3.288          270            0              0
  88  Cabinet         -0.331         2.249          4.207          0              180            0
  89  Cabinet         -3.961         0.388          2.119          0              0              0
  90  Drawer          -0.509         0.775          5.920          0              270            0
  91  Drawer          -3.193         0.777          5.157          0              180            0
  92  Cabinet         -3.968         0.388          2.894          0              0              0
  93  Cabinet         -3.667         0.387          5.029          0              90             0
  94  StoveBurner     -2.469         0.924          1.712          0              270            0
  95  Cabinet         -1.539         0.388          2.090          0              0              0
  96  Sink            -4.190         0.921          3.279          0              0              0
  97  Cabinet         -3.641         0.387          5.029          0              90             0
  98  Cabinet         -1.583         1.931          1.777          0              0              0
  99  Drawer          -0.509         0.775          6.568          0              270            0
 100  CoffeeMachine   -0.279         0.912          6.556          0              270            0
 101  StoveKnob       -2.347         1.095          1.560          288.012        180            180
 102  StoveKnob       -2.788         1.095          1.560          288.012        180            180
 103  StoveKnob       -2.965         1.095          1.560          288.012        180            180
 104  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 105  GarbageCan      -3.711         -0.030         6.376          0              270            0
 106  Toaster         -3.578         0.912          1.763          0              0              0
 107  Curtains        -4.522         2.252          3.391          90             90             0
 108  Window          -4.868         1.629          3.309          90             270            0
 109  Microwave       -2.693         1.430          1.689          0              0              0
 110  LightSwitch     -1.588         1.169          1.506          0              0              0
 111  SinkBasin       -4.196         0.780          3.276          0              270            0
 112  Fridge          -0.324         -0.001         3.602          0              0              0
 113  NorthWall
 114  EastWall
 115  SouthWall
 116  WestWall

Plan:
STEP 1: Turn left then walk towards the sink | STEP 2: Pick up the spoon in the sink | STEP 3: Turn right then head to the coffee maker on your right | STEP 4: Put the spoon in the mug | STEP 5: Pick up the mug with spoon | STEP 6: Turn right then head to the sink | STEP 7: Put the mug with spoon in the sink | END