Task: Put a spoon in a cup 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           -0.75          0.899          0.25           0              90             0
   1  Pan             -4.26          0.923          5.418          0              90             0              71
   2  Pencil          -1.626         0.747          1.956          0              0              0              69
   3  WineBottle      -3.748         0.069          6.333          0              270            0              97
   4  Fork            -0.181         0.925          4.615          0              0              0              56
   5  Spoon           -3.417         0.748          1.957          0              0              0              77
   6  Spoon           -0.503         0.747          4.771          0              270            0              61
   7  Spoon           -0.258         0.926          5.932          0              90             0              56
   8  Spatula         -3.494         0.938          5.412          0              90             0              71
   9  Spatula         -4.242         0.938          2.183          0              90             0              71
  10  Cup             -0.104         0.923          5.603          0              0              0              56
  11  Cup             -4.271         0.789          3.410          0              270            0              103
  12  Egg             -4.121         0.826          3.159          0              270            0              103
  13  Knife           -1.860         0.953          2.026          0              0              0              53
  14  SoapBottle      -3.639         0.068          6.416          0              270            0              97
  15  Tomato          -4.335         0.980          4.381          0              90             0              71
  16  Tomato          -0.259         1.637          3.409          0              270            0              104
  17  SaltShaker      -4.154         0.743          4.809          0              90             0              78
  18  Bread           -1.860         1.003          1.648          0              0              0              53
  19  Bread           -0.301         1.415          3.355          0              270            0              104
  20  Apple           -0.334         0.978          4.615          0              0              0              56
  21  Egg             -0.181         0.960          5.932          0              0              0              56
  22  Apple           -3.733         0.976          5.182          0              90             0              71
  23  Knife           -0.334         0.954          5.603          0              0              0              56
  24  Potato          -4.196         0.824          3.159          0              270            0              103
  25  Fork            -1.943         0.924          1.8            0              0              0              53
  26  Bowl            -0.301         1.332          3.974          0              270            0              104
  27  Plate           -4.335         0.924          5.159          0              90             0              71
  28  Lettuce         -4.191         1.003          2.538          0              278.173        0              71
  29  Bread           -0.411         1.004          4.944          0              0              0              56
  30  Tomato          -0.301         1.392          3.726          0              270            0              104
  31  WineBottle      -1.610         0.924          2.026          0              0              0              53
  32  Spatula         -4.016         0.770          2.235          0              90             0              51
  33  PaperTowelRoll  -1.777         1.027          1.951          0              0              0              53
  34  Cup             -0.258         0.923          5.273          0              0              0              56
  35  Pencil          -0.488         0.925          5.603          0              0              0              56
  36  Pan             -0.295         1.070          3.479          0              0              0              104
  37  Pot             -2.924         0.930          2.012          0              0              0              54
  38  SaltShaker      -1.981         1.449          1.605          0              0              0              90
  39  SoapBottle      -2.109         0.923          1.648          0              180            0              53
  40  PepperShaker    -1.610         0.919          1.648          0              0              0              53
  41  ButterKnife     -4.031         0.923          1.875          0              0              0              71
  42  DishSponge      -1.610         0.923          1.8            0              0              0              53
  43  Spoon           -1.860         0.924          1.875          0              90             0              53
  44  Mug             -4.184         0.918          3.863          0              90             0              71
  45  Cabinet         -3.203         1.931          1.777          0              0              0
  46  Cabinet         -3.187         0.390          2.089          0              0              0
  47  Cabinet         -0.637         0.387          6.882          0              180            0
  48  Drawer          -3.797         0.781          1.961          0              0              0
  49  Cabinet         -3.036         0.387          5.029          0              90             0
  50  Drawer          -0.509         0.775          5.268          0              270            0
  51  Drawer          -4.125         0.798          2.499          0              0              0
  52  Cabinet         -0.331         2.249          4.308          0              180            0
  53  CounterTop      -1.872         0.958          1.799          0              0              0
  54  StoveBurner     -2.924         0.924          2.012          0              0              0
  55  Cabinet         -0.331         2.249          6.806          0              180            0
  56  CounterTop      -0.345         0.960          5.603          0              0              0
  57  Cabinet         -3.039         1.935          5.321          0              90             0
  58  Cabinet         -3.922         0.397          2.088          0              0              0
  59  StoveBurner     -2.467         0.924          2.012          0              0              0
  60  Cabinet         -0.331         2.249          5.505          0              180            0
  61  Drawer          -0.509         0.775          4.617          0              270            0
  62  Drawer          -3.509         0.777          5.157          0              180            0
  63  Cabinet         -3.961         0.388          2.878          0              0              0
  64  Cabinet         -3.961         0.388          4.342          0              0              0
  65  Cabinet         -0.637         0.387          5.582          0              180            0
  66  Cabinet         -0.637         0.388          4.299          0              180            0
  67  Cabinet         -0.637         0.388          5.599          0              180            0
  68  StoveBurner     -2.924         0.924          1.712          0              180            0
  69  Drawer          -1.859         0.775          1.961          0              0              0
  70  Cabinet         -0.331         2.249          5.609          0              180            0
  71  CounterTop      -4.260         0.958          4.943          0              90             0
  72  Cabinet         -4.284         1.931          2.226          0              0              0
  73  Cabinet         -0.331         2.249          3.010          0              180            0
  74  Drawer          -3.801         0.777          5.157          0              180            0
  75  Cabinet         -4.112         1.935          5.321          0              90             0
  76  Cabinet         -3.968         0.388          3.662          0              0              0
  77  Drawer          -3.418         0.777          1.961          0              0              0
  78  Drawer          -4.090         0.777          4.661          0              90             0
  79  Faucet          -4.441         0.909          3.288          270            0              0
  80  Cabinet         -0.331         2.249          4.207          0              180            0
  81  Cabinet         -3.961         0.388          2.119          0              0              0
  82  Drawer          -0.509         0.775          5.920          0              270            0
  83  Drawer          -3.193         0.777          5.157          0              180            0
  84  Cabinet         -3.968         0.388          2.894          0              0              0
  85  Cabinet         -3.667         0.387          5.029          0              90             0
  86  StoveBurner     -2.469         0.924          1.712          0              270            0
  87  Cabinet         -1.539         0.388          2.090          0              0              0
  88  Sink            -4.190         0.921          3.279          0              0              0
  89  Cabinet         -3.641         0.387          5.029          0              90             0
  90  Cabinet         -1.583         1.931          1.777          0              0              0
  91  Drawer          -0.509         0.775          6.568          0              270            0
  92  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  93  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  94  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  95  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  96  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  97  GarbageCan      -3.711         -0.030         6.376          0              270            0
  98  Toaster         -3.578         0.912          1.763          0              0              0
  99  Curtains        -4.522         2.252          3.391          90             90             0
 100  Window          -4.868         1.629          3.309          90             270            0
 101  Microwave       -2.693         1.430          1.689          0              0              0
 102  LightSwitch     -1.588         1.169          1.506          0              0              0
 103  SinkBasin       -4.196         0.780          3.276          0              270            0
 104  Fridge          -0.324         -0.001         3.602          0              0              0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Turn left, go towards the fridge, turn left and approach the counter. | STEP 2: Pick up the spoon from the counter. | STEP 3: Turn right, go halfway across the room, turn left and go to the sink. | STEP 4: Put the spoon in the white cup. | STEP 5: Pick up the white cup with the spoon in it. | STEP 6: Put the cup in the sink. | END