Task: Put the goblet in 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           -0.25          0.900          0.25           0              270            0
   1  Potato          -0.598         0.933          -1.119         0              47.530         0              75
   2  CreditCard      1.074          0.908          -1.199         0              0              0              75
   3  ButterKnife     0.231          1.111          1.790          0              315            0              68
   4  ButterKnife     0.894          1.111          1.133          0              315            0              68
   5  Kettle          -1.056         0.118          -1.068         0              0              0              48
   6  Spoon           0.894          1.112          1.133          0              315            0              68
   7  Spoon           0.067          1.112          1.345          0              315            0              68
   8  Fork            -1.159         0.852          -1.249         0              180            0              85
   9  Fork            0.990          1.112          0.883          0              315            0              68
  10  Spatula         0.663          1.126          0.902          0              135            0              68
  11  Cup             -0.880         0.115          -1.031         0              0              0              48
  12  Cup             -1.933         0.909          -1.449         0              0              0              75
  13  Cup             -2.773         1.793          -0.660         0              0              0              61
  14  Egg             -2.757         0.072          1.571          0              0              0              86
  15  Egg             -2.770         0.946          -0.147         0              0              0              67
  16  Knife           0.221          1.134          1.499          0              45             0              68
  17  Tomato          -2.728         0.085          1.466          0              0              0              86
  18  Bowl            -2.860         0.818          1.013          0              90             0              87
  19  Bowl            -2.680         1.473          0.852          0              90             0              87
  20  SaltShaker      0.298          1.108          1.575          0              315            0              68
  21  Mug             -2.680         1.668          1.094          0              180            0              87
  22  Mug             0.329          1.106          1.843          0              315            0              68
  23  Apple           -1.591         0.903          -1.360         0              0              0              85
  24  Pan             -2.59          0.9            -1.147         0              0              0              75
  25  Apple           0.346          1.057          -1.414         0              0              0              88
  26  Fork            -2.585         0.747          0.163          0              0              0              73
  27  Kettle          -2.622         0.928          -0.396         0              0              0              69
  28  CreditCard      -2.936         0.908          0.021          0              0              0              75
  29  Bread           -0.401         0.948          -1.291         0              0              0              75
  30  Plate           -1.458         0.843          -1.235         0              0              0              85
  31  SoapBottle      -0.748         0.899          -1.291         0              315            0              75
  32  Spatula         0.997          0.926          -1.449         0              90             0              75
  33  Lettuce         -2.660         0.874          0.983          31.046         0              0              87
  34  SaltShaker      -1.627         0.113          -0.994         0              0              0              52
  35  Tomato          -2.680         1.722          0.852          0              90             0              87
  36  PepperShaker    -2.830         0.9            -0.112         0              0              0              67
  37  ButterKnife     -0.135         1.111          1.772          0              315            0              68
  38  Pot             1.463          1.100          0.61           0              0              0              68
  39  DishSponge      -1.221         0.841          -1.126         0              41.164         0              85
  40  Egg             0.398          1.040          -1.314         0              0              0              88
  41  Spoon           -1.332         0.850          -1.25          0              90             0              85
  42  Knife           -2.521         0.934          0.190          0              0              0              67
  43  Cup             -2.619         0.377          1.013          0              90             0              87
  44  Mug             0.241          1.000          -1.314         0              0              0              88
  45  Bowl            0.586          1.110          0.825          0              315            0              68
  46  Cabinet         -2.647         2.075          -0.875         0              0              0
  47  Cabinet         -2.647         2.075          -0.234         0              0              0
  48  Cabinet         -0.824         0.469          -0.907         0              0              0
  49  Cabinet         -1.764         2.009          -1.197         0              0              0
  50  Cabinet         -1.834         2.009          -1.197         0              0              0
  51  Cabinet         -1.850         0.389          -0.897         0              0              0
  52  Cabinet         -1.801         0.469          -0.907         0              0              0
  53  Cabinet         1.115          2.009          -1.197         0              0              0
  54  Cabinet         0.235          2.009          -1.197         0              0              0
  55  Cabinet         1.125          0.470          -0.897         0              0              0
  56  Cabinet         -2.387         0.389          0.375          0              0              0
  57  Cabinet         0.484          0.389          -0.897         0              0              0
  58  Cabinet         -2.625         2.009          -1.197         0              0              0
  59  Cabinet         -2.647         2.009          -0.945         0              0              0
  60  Cabinet         -2.647         2.200          1.664          0              0              0
  61  Cabinet         -2.647         2.009          0.364          0              0              0
  62  Cabinet         0.164          2.009          -1.197         0              0              0
  63  Cabinet         -0.765         2.009          -1.197         0              0              0
  64  Cabinet         -0.834         2.009          -1.197         0              0              0
  65  Cabinet         -2.647         2.200          0.434          0              0              0
  66  StoveBurner     -2.622         0.886          -0.711         0              0              0
  67  CounterTop      -2.699         0.946          0.106          0              0              0
  68  CounterTop      0.908          1.147          0.788          0              315            0
  69  StoveBurner     -2.622         0.886          -0.396         0              0              0
  70  Drawer          -2.026         0.779          -1.082         0              0              0
  71  Sink            -1.328         0.916          -1.225         0              0              0
  72  StoveBurner     -2.822         0.886          -0.711         0              0              0
  73  Drawer          -2.572         0.779          0.099          0              0              0
  74  StoveBurner     -2.822         0.886          -0.396         0              0              0
  75  CounterTop      0.071          0.946          -1.199         0              0              0
  76  Drawer          0.254          0.779          -1.082         0              0              0
  77  LightSwitch     -1.167         1.307          3.0            0              180            0
  78  CoffeeMachine   1.124          1.100          0.312          0              227.685        0
  79  StoveKnob       -2.429         0.863          -0.621         311.864        270            180
  80  StoveKnob       -2.429         0.863          -0.477         311.864        270            180
  81  StoveKnob       -2.429         0.863          -0.782         311.864        270            180
  82  StoveKnob       -2.429         0.863          -0.324         311.864        270            180
  83  Window          0.321          1.449          3.088          90             0              0
  84  Toaster         -2.823         0.899          0.246          0              90             0
  85  SinkBasin       -1.344         0.838          -1.25          0              0              0
  86  GarbageCan      -2.757         1.886          1.466          0              0              0
  87  Fridge          -2.855         0.0            0.851          0              0              0
  88  Microwave       0.283          0.900          -1.331         0              0              0
  89  Stool           1.541          0.010          1.328          0              45             0
  90  Stool           0.983          0.010          1.793          0              47.459         0
  91  Faucet          -1.392         1.136          -1.399         0              270            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Walk forward and left to the kitchen counter just right of the sink | STEP 2: Pick up the goblet from the kitchen counter | STEP 3: Turn left and walk a couple feet then turn right to face the sink | STEP 4: Put the goblet in the sink | END