Task: put a spoon in a mug and put them 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           0.0            0.900          -0.25          0              90             0
   1  Statue          -0.205         0.920          0.083          0              0              0              74
   2  Potato          -0.376         0.793          -1.897         0              0              0              91
   3  Ladle           -0.849         0.950          0.188          0              0              0              74
   4  ButterKnife     -0.119         0.695          0.181          0              180            0              80
   5  ButterKnife     -0.203         0.763          -2.008         0              0              0              91
   6  Kettle          1.194          0.912          -2.183         0              0              0              81
   7  Pot             -1.056         0.956          -1.127         0              0              0              78
   8  Pot             -1.289         0.957          -1.02          0              0              0              71
   9  Spatula         -1.045         1.146          0.573          0              0              0              77
  10  Fork            -0.993         0.911          -1.553         0              0              0              81
  11  Spoon           -0.031         0.764          -2.063         0              0              0              91
  12  Egg             1.891          1.132          -0.737         0              270            0              88
  13  Plate           1.945          1.097          -0.551         0              270            0              88
  14  Knife           -0.117         0.786          -1.952         0              270            0              91
  15  SoapBottle      -0.619         0.112          -1.960         0              0              0              66
  16  SoapBottle      3.002          0.879          0.087          0              180            0              85
  17  Tomato          -0.910         0.960          -1.722         0              0              0              81
  18  SaltShaker      -1.239         1.658          -0.043         0              0              0              65
  19  Bread           -0.152         1.213          0.573          0              0              0              77
  20  Lettuce         2.000          0.893          -0.737         0              270            0              88
  21  Apple           1.878          1.064          -1.350         0              270            0              86
  22  Apple           2.000          0.865          -0.365         0              270            0              88
  23  Pan             1.743          0.9            -1.969         0              308.846        0              81
  24  Knife           -1.278         0.937          0.241          0              270            0              74
  25  Bowl            1.194          0.908          -1.929         0              0              0              81
  26  Fork            -1.138         0.911          -2.182         0              0              0              81
  27  Cup             0.101          0.750          -1.938         0              0              0              91
  28  Ladle           -0.634         0.950          0.135          0              0              0              74
  29  Apple           2.000          1.476          -0.551         0              270            0              88
  30  Kettle          -0.985         0.137          -0.204         0              0              0              68
  31  Vase            1.873          1.661          -1.236         0              0              0              58
  32  Potato          -1.322         0.941          -1.891         0              0              0              81
  33  Pot             -1.289         0.957          -0.756         0              180            0              56
  34  Bread           -0.420         0.995          0.188          0              0              0              74
  35  Plate           1.945          1.426          -0.365         0              270            0              88
  36  Spatula         0.071          1.146          0.485          0              0              0              77
  37  PaperTowelRoll  2.487          0.656          0.297          0              180            0              87
  38  Vase            -0.997         0.919          -0.231         0              0              0              74
  39  Egg             2.000          1.132          -0.737         0              270            0              88
  40  SoapBottle      -1.312         1.660          -0.626         0              0              0              64
  41  SaltShaker      -0.691         0.688          -2.023         0              0              0              51
  42  Lettuce         -1.239         0.987          -1.384         0              90             0              81
  43  PepperShaker    -0.186         0.691          0.098          0              180            0              80
  44  ButterKnife     -0.822         1.131          0.441          0              0              0              77
  45  DishSponge      -0.645         0.691          0.102          0              180            0              75
  46  Vase            2.979          0.539          0.128          0              0              0              87
  47  Spoon           -1.330         0.914          -0.170         0              0              0              74
  48  Tomato          1.963          0.112          0.138          0              0              0              84
  49  Mug             3.109          0.547          0.297          0              180            0              87
  50  Statue          2.798          0.559          0.090          0              180            0              87
  51  Drawer          -0.819         0.75           -1.690         0              0              0
  52  Cabinet         -1.149         2.264          -0.838         0              90             0
  53  StoveBurner     -1.056         0.949          -0.671         0              180            0
  54  Cabinet         1.738          2.019          -2.000         0              0              0
  55  Cabinet         1.389          0.469          -1.059         0              0              0
  56  StoveBurner     -1.289         0.949          -0.755         0              180            0
  57  Faucet          -0.157         1.052          -2.196         0              270            0
  58  Cabinet         1.75           2.019          -1.029         0              0              0
  59  Cabinet         1.75           2.019          -1.399         0              0              0
  60  Cabinet         1.179          2.019          -2.0           0              0              0
  61  Cabinet         0.199          2.019          -2.0           0              0              0
  62  Cabinet         -1.100         2.019          -2.0           0              0              0
  63  Cabinet         -1.149         2.019          -1.979         0              0              0
  64  Cabinet         -1.149         2.019          -0.770         0              0              0
  65  Cabinet         -1.149         2.019          0.380          0              0              0
  66  Cabinet         -0.819         0.469          -1.689         0              0              0
  67  Cabinet         -0.839         0.469          -1.664         0              0              0
  68  Cabinet         -0.839         0.469          -0.049         0              0              0
  69  Cabinet         -0.414         0.370          -0.009         0              0              0
  70  Sink            -0.118         0.875          -2.009         0              0              0
  71  StoveBurner     -1.289         0.949          -1.019         0              0              0
  72  Cabinet         0.119          2.264          -2.0           0              0              0
  73  Cabinet         -0.459         2.264          -2.0           0              0              0
  74  CounterTop      -0.665         0.949          0.188          0              0              0
  75  Drawer          -0.449         0.75           -0.010         0              180            0
  76  Cabinet         -0.450         0.469          -0.009         0              0              0
  77  CounterTop      -0.630         1.167          0.573          0              0              0
  78  StoveBurner     -1.056         0.949          -1.126         0              0              0
  79  Cabinet         1.376          0.460          -1.685         0              0              0
  80  Drawer          -0.070         0.75           -0.009         0              180            0
  81  CounterTop      1.159          0.946          -2.013         0              0              0
  82  Cabinet         -1.150         2.264          -1.418         0              90             0
  83  HousePlant      -1.246         1.108          0.606          0              0              0
  84  GarbageCan      1.923          -0.010         0.137          0              0              0
  85  Shelf           2.759          0.880          0.144          0              0              0
  86  Microwave       1.827          0.900          -1.354         0              270            0
  87  Shelf           2.759          0.552          0.145          0              0              0
  88  Fridge          1.975          0.0            -0.537         0              0              0
  89  LightSwitch     0.404          1.297          2.0            0              180            0
  90  Shelf           2.760          0.172          0.145          0              0              0
  91  SinkBasin       -0.129         0.752          -2.007         0              0              0
  92  StoveKnob       -0.873         0.903          -0.827         45             90             0
  93  StoveKnob       -0.873         0.903          -0.676         45             90             0
  94  StoveKnob       -0.873         0.903          -0.966         45             90             0
  95  StoveKnob       -0.873         0.903          -1.123         45             90             0
  96  Toaster         0.840          0.900          -2.057         0              0              0
  97  CoffeeMachine   0.501          0.900          -2.125         0              0              0
  98  ShelvingUnit    2.760          0.006          0.144          0              0              0
  99  Stool           -0.826         0.010          0.908          0              347.513        0
 100  Stool           -0.132         0.010          0.883          0              71.555         0
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: go to the sink | STEP 2: take the spoon from the sink | STEP 3: take the spoon to the shelves in the corner | STEP 4: put the spoon in the white mug on the second shelf from the bottom | STEP 5: pick up the cup with the spoon in it | STEP 6: take the cup to the sink | STEP 7: put the cup and the spoon in the sink | END