Task: put a spoon and goblet into the sink basin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.901          4.25           0              180            0
   1  Potato          -2.847         1.212          4.649          0              90             0              64
   2  ButterKnife     -0.326         0.662          0.355          0              0              0              36
   3  Fork            -2.269         0.662          0.355          0              180            0              55
   4  Fork            -2.789         0.901          2.706          0              0              0              68
   5  Pot             -2.583         0.900          2.573          0              0              0              68
   6  Cup             -1.193         1.773          0.205          0              0              0              44
   7  Knife           -0.272         0.688          0.355          0              90             0              36
   8  Knife           -2.583         0.926          2.309          0              0              0              68
   9  SoapBottle      -2.583         0.900          2.706          0              0              0              68
  10  Tomato          -1.266         0.859          0.447          0              0              0              65
  11  Tomato          -0.143         0.964          3.334          0              0              0              70
  12  Bowl            -2.789         0.897          2.045          0              0              0              68
  13  Bowl            -2.764         1.183          4.352          0              90             0              64
  14  Apple           -0.400         0.956          2.731          0              0              0              70
  15  Egg             -1.007         0.829          0.281          0              0              0              65
  16  Plate           -2.246         1.777          0.251          0              0              0              43
  17  Fork            -2.377         0.662          0.355          0              0              0              55
  18  Bread           -0.314         0.957          2.530          0              0              0              70
  19  Apple           -2.644         0.355          4.501          0              90             0              64
  20  Lettuce         -2.583         0.980          1.913          0              0              0              68
  21  Spatula         -0.835         0.810          0.337          0              0              0              65
  22  Knife           -2.583         0.926          2.045          0              0              0              68
  23  Potato          -0.350         1.049          0.140          0              0              0              66
  24  Tomato          -2.878         0.362          4.649          0              90             0              64
  25  Cup             -0.572         0.900          2.329          0              0              0              70
  26  SaltShaker      -0.582         1.769          0.251          0              0              0              44
  27  PepperShaker    -1.637         0.924          0.264          0              0              0              47
  28  ButterKnife     -0.572         0.900          2.530          0              0              0              70
  29  SoapBottle      -2.864         0.935          3.302          0              90             0              54
  30  Pan             -0.250         0.926          4.651          0              0              0              49
  31  DishSponge      -0.400         0.900          3.334          0              0              0              70
  32  Pot             -0.535         0.928          4.274          0              0              0              51
  33  Spoon           -2.943         0.936          3.209          0              0              0              54
  34  Mug             -2.778         1.001          3.714          0              90             0              67
  35  Bowl            -2.831         0.295          4.352          0              90             0              64
  36  Drawer          -0.325         0.696          0.413          0              0              0
  37  Cabinet         -0.595         0.490          0.648          0              0              0
  38  Cabinet         -0.555         0.490          0.646          0              0              0
  39  Cabinet         -1.591         0.490          0.646          0              0              0
  40  Cabinet         -1.554         0.490          0.646          0              0              0
  41  Cabinet         -2.550         0.490          0.646          0              0              0
  42  Cabinet         -1.514         2.046          0.392          0              0              0
  43  Cabinet         -2.474         2.046          0.392          0              0              0
  44  Cabinet         -1.478         2.046          0.392          0              0              0
  45  Cabinet         -0.518         2.046          0.392          0              0              0
  46  Cabinet         -0.479         2.046          0.392          0              0              0
  47  CounterTop      -1.366         0.952          0.349          0              0              0
  48  Sink            -1.108         0.926          0.340          0              0              0
  49  StoveBurner     -0.254         0.922          4.672          0              0              0
  50  Drawer          -1.824         0.696          0.413          0              0              0
  51  StoveBurner     -0.535         0.922          4.274          0              0              0
  52  StoveBurner     -0.254         0.922          4.274          0              0              0
  53  StoveBurner     -0.536         0.922          4.672          0              0              0
  54  CounterTop      -2.780         0.971          3.487          0              0              0
  55  Drawer          -2.323         0.696          0.413          0              0              0
  56  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  57  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  58  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  59  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  60  Toaster         -0.286         0.861          3.520          0              270            0
  61  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  62  LightSwitch     -0.064         1.447          1.996          0              270            0
  63  Window          -3.075         1.593          1.361          90             90             0
  64  Fridge          -2.802         0.0            4.427          0              0              0
  65  SinkBasin       -1.106         0.785          0.337          0              0              0
  66  Microwave       -0.358         0.917          0.224          0              0              0
  67  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  68  DiningTable     -2.733         -0.003         2.607          0              270            0
  69  Faucet          -1.077         0.920          0.028          270            270            0
  70  DiningTable     -0.488         -0.003         3.182          0              270            0
  71  NorthWall
  72  EastWall
  73  SouthWall
  74  WestWall

Plan:
STEP 1: walk through kitchen to face the blue coffee maker | STEP 2: pick up the spoon from the counter to the left of the coffee maker | STEP 3: walk to face the cabinets above the kitchen sink | STEP 4: open the right cabinet door, put spoon on the second shelf of cabinet | STEP 5: take out spoon and bronze goblet from cabinet, close the door | STEP 6: turn to face the kitchen sink | STEP 7: put the goblet into the sink basin | END