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           2.5            0.930          -1.5           0              0              0
   1  Ladle           3.084          0.212          -0.786         0              180            0              76
   2  Ladle           -0.868         0.363          -0.273         0              0              0              69
   3  ButterKnife     0.491          0.908          0.181          0              36.810         0              95
   4  ButterKnife     -0.868         0.706          0.576          0              0              0              68
   5  Glassbottle     -0.239         0.901          -1.496         0              45             0              85
   6  Kettle          -0.600         0.902          -1.090         0              135            0              53
   7  Kettle          -0.207         1.264          -1.527         0              45             0              81
   8  Spoon           3.028          0.748          0.032          0              180            0              109
   9  CellPhone       -0.827         0.323          0.926          0              0              0              65
  10  CellPhone       0.101          0.897          -1.588         0              0              0              85
  11  Mug             1.098          0.903          0.605          0              0              0              95
  12  Mug             1.242          0.881          -1.503         0              0              0              110
  13  Apple           -1.052         1.071          1.470          0              90             0              112
  14  Bread           -0.779         0.979          -0.749         0              45             0              64
  15  SaltShaker      2.890          1.460          -1.382         0              0              0              78
  16  Bowl            -1.080         0.897          0.846          0              0              0              64
  17  Bowl            0.304          1.256          -1.707         0              0              0              80
  18  SoapBottle      -0.033         0.909          -1.291         0              45             0              85
  19  Egg             1.086          0.938          -1.448         0              0              0              110
  20  Cup             1.242          0.709          -1.433         0              0              0              110
  21  Cup             -1.018         0.995          1.311          0              90             0              112
  22  Cup             1.008          0.711          -1.407         0              0              0              110
  23  Plate           0.710          0.921          0.527          0              0              0              95
  24  Plate           3.028          0.190          0.770          0              0              0              73
  25  Plate           3.200          0.913          -0.798         0              0              0              63
  26  Glassbottle     3.028          0.748          -0.100         0              90             0              109
  27  SoapBottle      3.173          1.473          -1.235         0              0              0              78
  28  Potato          0.929          1.111          -1.503         0              0              0              110
  29  Fork            3.029          0.713          -0.361         0              180            0              60
  30  Ladle           -0.868         0.554          -0.011         0              0              0              91
  31  Pot             0.423          0.900          0.869          0              0              0              95
  32  Kettle          -0.419         0.902          -1.269         0              315            0              66
  33  Spatula         0.336          0.915          -1.373         0              0              0              85
  34  Knife           0.336          0.925          -1.731         0              90             0              85
  35  Lettuce         1.098          0.973          0.038          0              0              0              95
  36  Cup             0.967          0.905          0.322          0              0              0              95
  37  SaltShaker      0.239          0.127          -1.434         0              0              0              54
  38  Egg             0.445          0.960          0.627          0              0              0              95
  39  PepperShaker    0.101          0.896          -1.803         0              0              0              85
  40  ButterKnife     3.029          0.712          0.627          0              180            0              86
  41  Apple           0.773          0.959          -1.475         0              0              0              110
  42  Pan             -0.789         0.899          0.176          0              0              0              64
  43  Bread           -0.789         0.979          0.623          0              0              0              64
  44  CellPhone       0.105          0.897          -1.430         0              45             0              85
  45  DishSponge      3.173          1.464          -1.137         0              0              0              78
  46  Tomato          -1.008         0.937          0.176          0              0              0              64
  47  Spoon           -0.030         0.134          -1.352         0              45             0              89
  48  Bowl            2.971          0.172          -0.786         0              0              0              76
  49  Mug             3.049          0.966          0.591          0              270            0              107
  50  Drawer          0.376          0.572          -1.509         0              0              0
  51  Drawer          3.020          0.769          -0.783         0              180            0
  52  Drawer          -0.860         0.577          1.429          0              0              0
  53  StoveBurner     -0.600         0.897          -1.090         0              135            0
  54  Drawer          0.376          0.191          -1.509         0              0              0
  55  Cabinet         1.402          1.874          -1.259         0              0              0
  56  Cabinet         -0.202         1.963          -1.328         0              0              0
  57  Drawer          -0.860         0.765          1.429          0              0              0
  58  Drawer          -0.677         0.765          -0.700         0              0              0
  59  StoveBurner     -0.420         0.897          -0.920         0              135            0
  60  Drawer          3.020          0.769          -0.407         0              180            0
  61  Drawer          -0.860         0.577          0.663          0              0              0
  62  Cabinet         2.819          1.768          -1.850         0              0              0
  63  CounterTop      3.111          0.936          0.019          0              0              0
  64  CounterTop      -1.007         0.935          -0.039         0              0              0
  65  Drawer          -0.860         0.385          0.663          0              0              0
  66  StoveBurner     -0.419         0.897          -1.269         0              315            0
  67  Drawer          -0.047         0.573          -1.324         0              0              0
  68  Drawer          -0.860         0.765          0.663          0              0              0
  69  Drawer          -0.860         0.385          -0.100         0              0              0
  70  Drawer          0.376          0.380          -1.509         0              0              0
  71  Drawer          -0.860         0.765          -0.100         0              0              0
  72  Drawer          0.376          0.765          -1.509         0              0              0
  73  Cabinet         2.849          0.419          0.409          0              0              0
  74  Drawer          -0.047         0.765          -1.324         0              0              0
  75  Cabinet         2.849          0.419          -0.610         0              0              0
  76  Cabinet         2.849          0.419          -0.959         0              0              0
  77  Cabinet         3.069          1.666          -0.709         0              0              0
  78  Cabinet         2.819          1.768          -1.047         0              0              0
  79  Cabinet         0.620          1.874          -1.259         0              0              0
  80  Cabinet         0.140          1.666          -1.559         0              0              0
  81  Cabinet         -0.189         1.666          -1.340         0              0              0
  82  Cabinet         -0.709         1.963          -0.819         0              0              0
  83  Cabinet         -0.920         1.665          -0.620         0              0              0
  84  Drawer          -0.860         0.190          -0.100         0              0              0
  85  CounterTop      0.133          0.935          -1.457         0              0              0
  86  Drawer          3.020          0.769          0.695          0              180            0
  87  Drawer          -0.677         0.577          -0.700         0              0              0
  88  Drawer          -0.860         0.190          1.429          0              0              0
  89  Drawer          -0.047         0.192          -1.324         0              0              0
  90  Drawer          -0.677         0.193          -0.700         0              0              0
  91  Drawer          -0.860         0.577          -0.100         0              0              0
  92  Sink            3.078          0.887          0.086          0              0              0
  93  StoveBurner     -0.239         0.897          -1.089         0              315            0
  94  Drawer          -0.860         0.190          0.663          0              0              0
  95  CounterTop      1.210          0.937          0.463          0              0              0
  96  Drawer          -0.047         0.381          -1.324         0              0              0
  97  Drawer          -0.677         0.387          -0.700         0              0              0
  98  Mirror          -1.295         1.630          0.045          0              0              0
  99  Drawer          -0.860         0.385          1.429          0              0              0
 100  HousePlant      3.196          0.891          -0.368         0              0              0
 101  StoveKnob       -0.090         0.790          -1.009         270            45             0
 102  StoveKnob       -0.280         0.790          -0.819         270            45             0
 103  StoveKnob       -0.180         0.790          -0.920         270            45             0
 104  StoveKnob       -0.370         0.790          -0.720         270            45             0
 105  GarbageCan      3.137          0.025          1.545          0              225            0
 106  Window          3.703          1.675          0.046          90             90             0
 107  CoffeeMachine   3.214          0.890          0.697          0              270            0
 108  LightSwitch     2.592          1.309          -1.880         0              0              0
 109  SinkBasin       3.069          0.736          0.108          0              90             0
 110  Fridge          1.008          0.029          -1.467         0              0              0
 111  Toaster         -1.035         0.873          -0.396         0              90             0
 112  Microwave       -1.034         0.874          1.428          0              90             0
 113  Faucet          3.305          0.886          0.094          270            180            0
 114  NorthWall
 115  EastWall
 116  SouthWall
 117  WestWall

Plan:
STEP 1: walk to the sink to your right. | STEP 2: Pick up the spoon from the sink. | STEP 3: Turn around walk to the central counter. | STEP 4: Place the spoon in the cup on the counter. | STEP 5: Pick up the cup from the counter. | STEP 6: Turn around and approach the sink. | STEP 7: Put the cup in the sink. | END