Task: Put a spoon in a cup and put them both 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           -1.5           0.901          1.25           0              270            0
   1  Potato          -0.138         1.049          0.140          0              0              0              71
   2  Potato          -0.314         0.926          2.731          0              0              0              75
   3  DishSponge      -0.582         1.773          0.114          0              0              0              50
   4  ButterKnife     -2.785         0.935          3.209          0              0              0              59
   5  Spatula         -1.932         0.677          0.355          0              90             0              55
   6  Spoon           -2.686         0.901          2.177          0              0              0              73
   7  Fork            -1.180         0.796          0.281          0              90             0              70
   8  Fork            -2.037         0.928          0.348          0              0              0              52
   9  Fork            -2.628         0.936          3.766          0              0              0              59
  10  Egg             -0.138         1.056          0.235          0              0              0              71
  11  Knife           -0.400         0.926          2.329          0              90             0              75
  12  SoapBottle      -1.746         1.773          0.251          0              0              0              47
  13  SoapBottle      -2.037         0.927          0.518          0              0              0              52
  14  Tomato          -2.943         0.999          3.209          0              0              0              59
  15  Tomato          -2.805         1.250          4.501          0              90             0              69
  16  SaltShaker      -0.218         0.658          0.409          0              0              0              41
  17  Lettuce         -0.314         0.980          2.530          0              0              0              75
  18  Lettuce         -2.785         1.015          3.302          0              180            0              59
  19  Apple           -0.486         0.956          2.932          0              0              0              75
  20  Egg             -0.921         0.832          0.502          0              0              0              70
  21  Plate           -2.805         1.190          4.278          0              90             0              69
  22  Fork            -2.323         0.662          0.409          0              0              0              60
  23  Bread           -2.864         0.940          1.983          0              0              0              73
  24  Apple           -2.583         0.956          2.309          0              0              0              73
  25  Lettuce         -0.657         0.980          2.530          0              0              0              75
  26  Spatula         -2.995         0.915          2.309          0              90             0              73
  27  Knife           -0.326         0.688          0.464          0              270            0              41
  28  Potato          -0.244         1.049          0.140          0              0              0              71
  29  Tomato          -0.486         0.964          2.530          0              0              0              75
  30  Cup             -2.691         0.298          4.427          0              90             0              69
  31  SaltShaker      -2.215         0.658          0.464          0              0              0              60
  32  PepperShaker    -0.380         0.658          0.355          0              0              0              41
  33  ButterKnife     -2.892         0.900          2.706          0              0              0              73
  34  SoapBottle      -0.572         0.900          3.334          0              0              0              75
  35  Pan             -0.250         0.926          4.651          0              0              0              54
  36  DishSponge      -2.549         0.935          3.673          0              0              0              59
  37  Pot             -0.535         0.928          4.274          0              0              0              56
  38  Spoon           -2.628         0.936          3.488          0              90             0              59
  39  Mug             -0.403         1.013          0.140          0              90             0              71
  40  Bowl            -2.831         0.295          4.501          0              90             0              69
  41  Drawer          -0.325         0.696          0.413          0              0              0
  42  Cabinet         -0.595         0.490          0.648          0              0              0
  43  Cabinet         -0.555         0.490          0.646          0              0              0
  44  Cabinet         -1.591         0.490          0.646          0              0              0
  45  Cabinet         -1.554         0.490          0.646          0              0              0
  46  Cabinet         -2.550         0.490          0.646          0              0              0
  47  Cabinet         -1.514         2.046          0.392          0              0              0
  48  Cabinet         -2.474         2.046          0.392          0              0              0
  49  Cabinet         -1.478         2.046          0.392          0              0              0
  50  Cabinet         -0.518         2.046          0.392          0              0              0
  51  Cabinet         -0.479         2.046          0.392          0              0              0
  52  CounterTop      -1.366         0.952          0.349          0              0              0
  53  Sink            -1.108         0.926          0.340          0              0              0
  54  StoveBurner     -0.254         0.922          4.672          0              0              0
  55  Drawer          -1.824         0.696          0.413          0              0              0
  56  StoveBurner     -0.535         0.922          4.274          0              0              0
  57  StoveBurner     -0.254         0.922          4.274          0              0              0
  58  StoveBurner     -0.536         0.922          4.672          0              0              0
  59  CounterTop      -2.780         0.971          3.487          0              0              0
  60  Drawer          -2.323         0.696          0.413          0              0              0
  61  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  65  Toaster         -0.286         0.861          3.520          0              270            0
  66  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  67  LightSwitch     -0.064         1.447          1.996          0              270            0
  68  Window          -3.075         1.593          1.361          90             90             0
  69  Fridge          -2.802         0.0            4.427          0              0              0
  70  SinkBasin       -1.106         0.785          0.337          0              0              0
  71  Microwave       -0.358         0.917          0.224          0              0              0
  72  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  73  DiningTable     -2.733         -0.003         2.607          0              270            0
  74  Faucet          -1.077         0.920          0.028          270            270            0
  75  DiningTable     -0.488         -0.003         3.182          0              270            0
  76  NorthWall
  77  EastWall
  78  SouthWall
  79  WestWall

Plan:
STEP 1: Turn right and then turn to your left to face the coffee maker | STEP 2: Pick up a spoon off of the counter | STEP 3: Move to your right and turn to face the fridge | STEP 4: Open the fridge and put the spoon in the cup that is in the fridge | STEP 5: Pick up the cup from the fridge and close the fridge door | STEP 6: Turn left twice and then turn to your right to face the sink | STEP 7: Put the cup with spoon in it in the sink | END