Task: Put a cup containing a 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           -2.5           0.914          2.75           0              270            0
   1  Potato          -1.655         0.923          0.461          0              90             0              84
   2  Potato          -1.787         0.923          0.255          0              90             0              84
   3  DishSponge      -3.654         0.915          1.189          0              0              0              57
   4  DishSponge      -1.391         0.891          0.152          0              90             0              84
   5  WineBottle      -1.224         0.087          3.756          0              270            0              80
   6  Kettle          -2.840         0.081          3.663          0              0              0              60
   7  Spoon           -1.391         0.892          0.564          0              180            0              84
   8  Spoon           -0.994         0.892          0.255          0              90             0              84
   9  Spoon           -3.559         0.916          1.607          0              0              0              57
  10  Fork            -1.523         0.892          0.461          0              90             0              84
  11  Fork            -1.666         0.790          3.737          0              270            0              78
  12  Cup             -3.073         0.083          1.278          0              0              0              67
  13  Cup             -0.994         0.891          0.152          0              90             0              84
  14  Cup             -3.505         1.546          2.120          0              90             0              79
  15  SoapBottle      -3.231         0.083          1.200          0              0              0              67
  16  SaltShaker      -1.523         0.887          0.564          0              90             0              84
  17  PepperShaker    -3.097         0.742          1.279          0              0              0              49
  18  PepperShaker    -1.259         0.887          0.461          0              90             0              84
  19  Lettuce         -1.523         0.977          0.255          0              90             0              84
  20  Bread           -0.44          1.067          3.988          0              180            0              74
  21  Mug             -3.654         0.910          2.844          0              0              0              48
  22  Mug             -0.994         0.886          0.461          0              180            0              84
  23  Apple           -1.127         0.951          0.152          0              90             0              84
  24  Apple           -0.089         1.333          4.168          0              180            0              74
  25  Egg             -1.391         0.926          0.461          0              90             0              84
  26  Knife           -1.439         0.939          3.890          0              90             0              48
  27  Fork            -1.259         0.892          0.255          0              90             0              84
  28  Bread           -0.790         1.067          4.051          0              180            0              74
  29  Potato          -0.089         1.018          4.114          0              180            0              74
  30  Plate           -3.005         0.904          3.677          0              0              0              48
  31  Pot             -3.424         0.966          2.374          0              0              0              54
  32  Kettle          -3.145         0.069          2.920          0              270            0              61
  33  WineBottle      -3.081         0.916          1.189          0              0              0              57
  34  Bowl            -3.492         1.993          1.945          0              0              0              62
  35  Tomato          -1.127         0.960          -0.053         0              90             0              84
  36  Cup             -1.127         0.891          0.358          0              90             0              84
  37  Spatula         -3.185         0.761          1.279          0              90             0              49
  38  SoapBottle      -1.259         0.891          0.152          0              90             0              84
  39  Lettuce         -3.463         1.001          1.273          0              0              0              57
  40  Pan             -3.424         0.966          1.971          0              0              0              56
  41  Apple           -1.921         0.849          3.737          0              0              0              78
  42  SaltShaker      -3.368         0.912          1.524          0              0              0              57
  43  PepperShaker    -1.655         0.887          0.358          0              90             0              84
  44  ButterKnife     -1.787         0.891          0.152          0              90             0              84
  45  DishSponge      -2.302         0.915          3.998          0              0              0              48
  46  Spoon           -1.127         0.892          0.564          0              0              0              84
  47  Mug             -1.523         0.886          0.049          0              90             0              84
  48  CounterTop      -3.381         0.950          3.335          0              0              0
  49  Drawer          -3.121         0.775          1.357          0              0              0
  50  Drawer          -3.121         0.777          2.916          0              0              0
  51  StoveBurner     -3.148         0.958          2.374          0              0              0
  52  Sink            -1.797         0.917          3.660          0              0              0
  53  Cabinet         -1.421         0.388          3.459          0              0              0
  54  StoveBurner     -3.424         0.958          2.374          0              0              0
  55  Cabinet         -3.365         1.931          2.676          0              0              0
  56  StoveBurner     -3.424         0.958          1.971          0              0              0
  57  CounterTop      -3.381         0.951          1.356          0              0              0
  58  Drawer          -3.121         0.781          3.295          0              0              0
  59  Cabinet         -2.205         0.388          3.459          0              0              0
  60  Cabinet         -2.963         0.388          3.459          0              0              0
  61  Cabinet         -2.992         0.388          2.683          0              0              0
  62  Cabinet         -3.352         2.205          1.715          0              0              0
  63  Cabinet         -3.352         2.205          2.653          0              0              0
  64  Cabinet         -2.189         0.388          3.466          0              0              0
  65  Cabinet         -3.365         1.931          3.963          0              0              0
  66  Cabinet         -3.365         1.931          1.056          0              0              0
  67  Cabinet         -2.992         0.388          1.037          0              0              0
  68  StoveBurner     -3.143         0.958          1.971          0              0              0
  69  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  70  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  71  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  72  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  73  Toaster         -2.654         0.902          4.064          0              180            0
  74  Fridge          -0.439         0.014          3.996          0              0              0
  75  LightSwitch     0.25           1.383          2.085          0              270            0
  76  Window          -1.430         1.338          -0.347         90             0              0
  77  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  78  SinkBasin       -1.802         0.778          3.700          0              0              0
  79  Microwave       -3.484         1.430          2.182          0              90             0
  80  GarbageCan      -1.184         -0.020         3.794          0              270            0
  81  Blinds          -1.404         2.092          -0.296         0              0              0
  82  Stool           -1.373         0.014          1.048          1.214          20.754         0
  83  Faucet          -1.788         0.903          3.931          270            90             0
  84  DiningTable     -1.399         0.010          0.238          0              0              0
  85  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn around and walk across the room, turn tight at the door and go to the left end of the table, between the garbage bag on the floor and the end of the table.  | STEP 2: Pick up the brown cup with a spoon in it, to the left of the white coffee mug, on the table.  | STEP 3: Turn to your right and go to the sink, to the left of the refrigerator.  | STEP 4: Place the cup with the spoon, in the sink. | END