Task: put the spoon in the cup in the sink, move the cup to the counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.900          -0.25          0              270            0
   1  Pan             2.116          1.027          -1.84          0              270            0              57
   2  Potato          2.350          0.806          3.699          0              329.999        0              54
   3  Potato          -0.987         0.828          -0.184         0              90             0              97
   4  Ladle           2.584          0.840          0.776          0              317.0          0              65
   5  DishSponge      2.451          0.764          4.495          0              0              0              54
   6  Glassbottle     -1.069         0.786          -0.406         0              90             0              97
   7  Pot             2.177          1.027          -1.599         0              0              0              52
   8  Spatula         -0.661         0.816          2.510          0              270            0              59
   9  Spoon           -0.851         0.817          1.414          0              180            0              110
  10  Spoon           -0.669         1.028          0.323          0              0              0              56
  11  Egg             -0.851         0.860          1.492          0              90             0              110
  12  Egg             -0.714         0.868          1.337          0              90             0              110
  13  Cup             2.737          0.031          -1.074         0              0              0              79
  14  Cup             -0.858         0.328          -0.627         0              90             0              97
  15  Plate           1.409          1.027          -1.667         0              90             0              53
  16  Plate           -0.922         1.442          -0.184         0              90             0              97
  17  Knife           -0.874         0.826          2.372          0              90             0              59
  18  Knife           2.469          0.826          0.606          0              47.0           0              65
  19  Tomato          -0.577         0.870          1.259          0              90             0              110
  20  Tomato          -0.968         1.495          -0.406         0              90             0              97
  21  SaltShaker      -0.360         1.023          1.540          0              0              0              56
  22  PepperShaker    1.721          0.796          1.615          0              317.0          0              68
  23  Apple           2.451          0.814          3.795          0              0              0              54
  24  Apple           1.230          1.077          -1.560         0              90             0              53
  25  Pan             2.790          1.026          -0.846         0              0              0              53
  26  Glassbottle     2.138          0.765          3.762          0              225            0              54
  27  Knife           -0.645         0.841          1.103          0              0              0              110
  28  SoapBottle      2.231          1.025          1.699          0              136.999        0              53
  29  Egg             -0.645         0.860          1.570          0              90             0              110
  30  Fork            2.239          0.765          4.484          0              329.999        0              54
  31  Potato          -1.159         1.069          1.427          0              0              0              56
  32  Ladle           -0.890         0.088          0.530          0              0              0              55
  33  Tomato          -0.418         1.081          0.877          0              0              0              56
  34  Pot             1.836          1.027          -1.84          0              90             0              51
  35  WineBottle      2.652          0.033          -1.228         0              0              0              95
  36  Plate           2.959          1.027          0.068          0              0              0              53
  37  Spatula         2.451          0.779          3.97           0              315            0              54
  38  PaperTowelRoll  -0.875         0.181          2.779          0              0              0              108
  39  Lettuce         -1.069         0.844          -0.627         0              180            0              97
  40  Apple           2.302          0.814          3.97           0              0              0              54
  41  SaltShaker      -0.519         0.796          2.115          0              0              0              58
  42  PepperShaker    2.100          0.760          3.969          0              270            0              54
  43  ButterKnife     2.525          0.764          3.445          0              0              0              54
  44  Bread           2.368          1.094          0.711          0              136.999        0              53
  45  Cup             -0.897         2.288          -0.489         0              0              0              85
  46  DishSponge      2.706          0.800          0.164          0              0              0              64
  47  Bowl            -0.968         1.440          -0.738         0              90             0              97
  48  Spoon           2.275          0.765          4.118          0              270            0              54
  49  Mug             -0.645         0.811          1.492          0              270            0              110
  50  Sink            -0.716         1.023          1.333          0              0              0
  51  StoveBurner     1.835          1.018          -1.840         0              90             0
  52  StoveBurner     2.177          1.018          -1.599         0              0              0
  53  CounterTop      2.812          0.992          0.675          0              0              0
  54  DiningTable     2.419          0.003          3.930          0              0              0
  55  Drawer          -0.643         0.828          0.616          0              0              0
  56  CounterTop      -0.813         1.062          2.188          0              0              0
  57  StoveBurner     2.115          1.018          -1.840         0              270            0
  58  Drawer          -0.643         0.831          1.953          0              0              0
  59  Drawer          -0.643         0.833          2.418          0              0              0
  60  Drawer          1.347          0.836          -1.539         0              0              0
  61  Drawer          2.693          0.833          -1.131         0              0              0
  62  Drawer          2.693          0.833          -0.699         0              0              0
  63  Drawer          2.693          0.833          -0.267         0              0              0
  64  Drawer          2.693          0.833          0.163          0              0              0
  65  Drawer          2.524          0.833          0.720          0              2.000          0
  66  Drawer          2.232          0.833          1.036          0              2.000          0
  67  Drawer          1.936          0.833          1.354          0              2.000          0
  68  Drawer          1.646          0.833          1.670          0              2.000          0
  69  Cabinet         1.504          2.475          -1.710         0              0              0
  70  Cabinet         -0.823         2.220          1.621          0              0              0
  71  Cabinet         -0.823         2.220          0.615          0              0              0
  72  Cabinet         1.136          0.388          -1.355         0              0              0
  73  Cabinet         -0.356         0.383          2.626          0              0              0
  74  Cabinet         2.745          2.220          -1.690         0              0              0
  75  Cabinet         1.882          0.383          1.017          0              0              0
  76  Cabinet         1.307          0.473          1.640          0              0              0
  77  Cabinet         1.892          0.383          1.006          0              0              0
  78  Cabinet         2.467          0.383          0.383          0              0              0
  79  Cabinet         2.466          0.383          -0.475         0              0              0
  80  Cabinet         2.466          0.473          0.371          0              0              0
  81  Cabinet         2.386          2.475          -1.710         0              0              0
  82  Cabinet         -0.356         0.383          1.712          0              0              0
  83  Cabinet         2.745          2.220          0.019          0              0              0
  84  Cabinet         -0.663         2.496          0.157          0              0              0
  85  Cabinet         -0.663         2.496          -0.868         0              0              0
  86  Cabinet         -0.356         0.383          0.269          0              0              0
  87  Cabinet         -0.823         2.220          1.603          0              0              0
  88  Cabinet         -0.662         2.234          0.586          0              0              0
  89  Cabinet         2.745          2.220          -0.843         0              0              0
  90  Cabinet         2.745          2.220          -0.827         0              0              0
  91  Cabinet         -0.823         2.220          2.608          0              0              0
  92  Cabinet         2.732          2.226          -1.709         0              0              0
  93  Cabinet         1.137          2.226          -1.709         0              0              0
  94  Cabinet         2.466          0.383          -0.491         0              0              0
  95  Cabinet         2.466          0.383          -1.339         0              0              0
  96  StoveBurner     1.761          1.018          -1.599         0              0              0
  97  Fridge          -0.908         0.0            -0.405         0              0              0
  98  HousePlant      2.517          1.016          1.822          0              0              0
  99  Microwave       1.939          1.745          -1.826         0              0              0
 100  StoveKnob       2.017          1.041          -1.514         0              180            180
 101  StoveKnob       1.934          1.041          -1.514         0              180            180
 102  StoveKnob       2.017          1.041          -1.589         0              180            180
 103  StoveKnob       1.934          1.041          -1.589         0              180            180
 104  Window          1.756          1.608          4.762          90             0              0
 105  HousePlant      2.171          1.004          2.091          0              0              0
 106  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 107  LightSwitch     -0.099         1.410          -2.066         0              0              0
 108  GarbageCan      -0.951         -0.029         2.826          0              0              0
 109  Toaster         -1.007         1.018          2.238          0              90             0
 110  SinkBasin       -0.714         0.805          1.348          0              90             0
 111  Chair           1.615          0.004          4.310          0              107.976        0
 112  Faucet          -1.120         1.013          1.334          0              90             0
 113  Chair           2.759          0.004          3.086          0              358.967        0
 114
 115  NorthWall
 116  EastWall
 117  SouthWall
 118  WestWall

Plan:
STEP 1: turn right, walk to the sink on the left | STEP 2: grab the spoon in the sink | STEP 3: put the spoon in the cup in the sink | STEP 4: take the cup from the sink | STEP 5: walk to the right a little to the counter | STEP 6: put the cup on the counter | END