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           -1.0           0.901          2.25           0              180            0
   1  ButterKnife     -1.824         0.662          0.409          0              0              0              57
   2  Spatula         -0.272         0.677          0.409          0              0              0              43
   3  Spatula         -2.785         0.950          3.209          0              180            0              61
   4  Spoon           -1.180         0.797          0.281          0              0              0              72
   5  Fork            -1.353         0.798          0.337          0              90             0              72
   6  Egg             -2.805         1.219          4.575          0              90             0              71
   7  Egg             -2.686         0.933          2.706          0              0              0              75
   8  Cup             -0.143         0.900          3.334          0              0              0              77
   9  Cup             -1.904         0.927          0.264          0              0              0              54
  10  Cup             -1.770         0.927          0.602          0              0              0              54
  11  Knife           -2.377         0.688          0.464          0              270            0              62
  12  Knife           -1.904         0.953          0.433          0              0              0              54
  13  SoapBottle      -0.228         0.900          2.932          0              0              0              77
  14  Tomato          -1.637         0.992          0.518          0              0              0              54
  15  SaltShaker      -2.686         0.896          2.177          0              0              0              75
  16  SaltShaker      -0.572         0.896          3.334          0              0              0              77
  17  PepperShaker    -2.995         0.896          2.573          0              0              0              75
  18  Lettuce         -0.486         0.980          2.530          0              180            0              77
  19  Lettuce         -0.228         0.980          2.530          0              0              0              77
  20  Apple           -1.094         0.852          0.447          0              0              0              72
  21  Apple           -2.831         0.355          4.427          0              90             0              71
  22  Egg             -0.228         0.933          3.334          0              0              0              77
  23  Plate           -0.249         1.777          0.160          0              0              0              53
  24  Fork            -2.864         0.936          3.209          0              0              0              61
  25  Bread           -2.864         0.940          1.983          0              0              0              75
  26  Apple           -0.191         1.074          0.235          0              0              0              73
  27  Lettuce         -0.572         0.980          2.731          0              180            0              77
  28  Spatula         -1.007         0.810          0.447          0              270            0              72
  29  Knife           -0.400         0.926          2.530          0              90             0              77
  30  Potato          -2.888         1.212          4.278          0              90             0              71
  31  Tomato          -2.480         0.964          2.706          0              0              0              75
  32  Cup             -2.764         0.632          4.575          0              90             0              71
  33  SaltShaker      -2.892         0.896          2.441          0              0              0              75
  34  PepperShaker    -1.414         1.769          0.297          0              0              0              51
  35  ButterKnife     -2.269         0.662          0.355          0              0              0              62
  36  SoapBottle      -2.628         0.935          3.766          0              90             0              61
  37  Pan             -0.250         0.926          4.651          0              0              0              56
  38  DishSponge      -0.747         1.773          0.205          0              0              0              52
  39  Pot             -0.535         0.928          4.274          0              0              0              58
  40  Spoon           -2.377         0.901          2.573          0              0              0              75
  41  Mug             -2.549         0.930          3.580          0              0              0              61
  42  Bowl            -2.377         0.897          2.309          0              0              0              75
  43  Drawer          -0.325         0.696          0.413          0              0              0
  44  Cabinet         -0.595         0.490          0.648          0              0              0
  45  Cabinet         -0.555         0.490          0.646          0              0              0
  46  Cabinet         -1.591         0.490          0.646          0              0              0
  47  Cabinet         -1.554         0.490          0.646          0              0              0
  48  Cabinet         -2.550         0.490          0.646          0              0              0
  49  Cabinet         -1.514         2.046          0.392          0              0              0
  50  Cabinet         -2.474         2.046          0.392          0              0              0
  51  Cabinet         -1.478         2.046          0.392          0              0              0
  52  Cabinet         -0.518         2.046          0.392          0              0              0
  53  Cabinet         -0.479         2.046          0.392          0              0              0
  54  CounterTop      -1.366         0.952          0.349          0              0              0
  55  Sink            -1.108         0.926          0.340          0              0              0
  56  StoveBurner     -0.254         0.922          4.672          0              0              0
  57  Drawer          -1.824         0.696          0.413          0              0              0
  58  StoveBurner     -0.535         0.922          4.274          0              0              0
  59  StoveBurner     -0.254         0.922          4.274          0              0              0
  60  StoveBurner     -0.536         0.922          4.672          0              0              0
  61  CounterTop      -2.780         0.971          3.487          0              0              0
  62  Drawer          -2.323         0.696          0.413          0              0              0
  63  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  66  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  67  Toaster         -0.286         0.861          3.520          0              270            0
  68  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  69  LightSwitch     -0.064         1.447          1.996          0              270            0
  70  Window          -3.075         1.593          1.361          90             90             0
  71  Fridge          -2.802         0.0            4.427          0              0              0
  72  SinkBasin       -1.106         0.785          0.337          0              0              0
  73  Microwave       -0.358         0.917          0.224          0              0              0
  74  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  75  DiningTable     -2.733         -0.003         2.607          0              270            0
  76  Faucet          -1.077         0.920          0.028          270            270            0
  77  DiningTable     -0.488         -0.003         3.182          0              270            0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Move forward to the sink. | STEP 2: Pick up the silver spoon in the sink.  | STEP 3: Bring the spoon to the counter, right of the sink.  | STEP 4: Put the spoon in the orange cup on the back of the counter.  | STEP 5: Pick up the orange cup with spoon on the back of the counter.  | STEP 6: Bring the cup with spoon to the sink on left. | STEP 7: Put the cup with spoon in the sink.  | END