Task: Put a mug with a spoon in it in a sink.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          -0.75          0              90             0
   1  Potato          2.000          1.458          -0.271         0              270            0              83
   2  DishSponge      -1.413         0.913          -0.292         0              0              0              69
   3  Kettle          -1.056         0.956          -1.127         0              0              0              73
   4  Fork            -0.152         1.132          0.529          0              0              0              72
   5  Fork            -0.119         0.696          0.139          0              90             0              75
   6  Spoon           -0.759         0.695          -1.891         0              90             0              46
   7  Egg             1.910          1.049          -1.350         0              270            0              81
   8  Plate           -1.313         1.660          -0.043         0              0              0              60
   9  Plate           -0.049         0.114          0.163          0              180            0              64
  10  Knife           -0.375         1.155          0.573          0              0              0              72
  11  SoapBottle      2.491          0.879          0.168          0              180            0              80
  12  SoapBottle      -1.278         0.913          0.030          0              0              0              69
  13  Tomato          1.945          0.866          -0.271         0              270            0              83
  14  Bowl            2.000          1.095          -0.365         0              270            0              83
  15  SaltShaker      -0.589         0.690          -1.935         0              0              0              46
  16  Bread           1.945          0.899          -0.551         0              270            0              83
  17  Lettuce         -1.259         0.987          -1.929         0              0              0              76
  18  Pan             1.194          0.910          -1.929         0              0              0              76
  19  Knife           -1.080         0.937          -0.109         0              0              0              69
  20  Bowl            1.945          1.095          -0.737         0              270            0              83
  21  Fork            -1.157         0.911          -1.806         0              0              0              76
  22  Cup             0.101          0.750          -1.938         0              0              0              86
  23  Ladle           -1.045         1.168          0.529          0              0              0              72
  24  Apple           1.945          0.865          -0.830         0              270            0              83
  25  Kettle          -1.289         0.957          -0.756         0              180            0              51
  26  Vase            -1.351         1.662          -0.626         0              0              0              59
  27  Potato          2.000          1.458          -0.830         0              270            0              83
  28  Pot             -1.089         0.9            0.235          0              0              0              69
  29  Bread           -0.420         0.995          0.188          0              0              0              69
  30  Plate           1.688          0.115          -1.332         0              0              0              50
  31  Spatula         0.071          1.146          0.441          0              0              0              72
  32  PaperTowelRoll  2.694          0.656          0.038          0              180            0              82
  33  Vase            2.699          0.869          0.182          0              0              0              80
  34  Egg             -0.375         1.165          0.529          0              0              0              72
  35  SoapBottle      2.798          0.552          0.142          0              180            0              82
  36  SaltShaker      -0.910         0.907          -1.384         0              0              0              76
  37  Lettuce         1.924          0.139          0.109          0              270            0              79
  38  PepperShaker    -0.577         0.688          0.279          0              180            0              70
  39  ButterKnife     -0.822         1.131          0.529          0              0              0              72
  40  DishSponge      -0.993         0.910          -1.553         0              0              0              76
  41  Vase            2.979          0.539          0.128          0              0              0              82
  42  Spoon           -1.330         0.914          -0.170         0              0              0              69
  43  Tomato          1.891          1.148          -0.551         0              270            0              83
  44  Mug             -0.634         0.908          0.241          0              0              0              69
  45  Statue          -0.205         0.920          0.188          0              0              0              69
  46  Drawer          -0.819         0.75           -1.690         0              0              0
  47  Cabinet         -1.149         2.264          -0.838         0              90             0
  48  StoveBurner     -1.056         0.949          -0.671         0              180            0
  49  Cabinet         1.738          2.019          -2.000         0              0              0
  50  Cabinet         1.389          0.469          -1.059         0              0              0
  51  StoveBurner     -1.289         0.949          -0.755         0              180            0
  52  Faucet          -0.157         1.052          -2.196         0              270            0
  53  Cabinet         1.75           2.019          -1.029         0              0              0
  54  Cabinet         1.75           2.019          -1.399         0              0              0
  55  Cabinet         1.179          2.019          -2.0           0              0              0
  56  Cabinet         0.199          2.019          -2.0           0              0              0
  57  Cabinet         -1.100         2.019          -2.0           0              0              0
  58  Cabinet         -1.149         2.019          -1.979         0              0              0
  59  Cabinet         -1.149         2.019          -0.770         0              0              0
  60  Cabinet         -1.149         2.019          0.380          0              0              0
  61  Cabinet         -0.819         0.469          -1.689         0              0              0
  62  Cabinet         -0.839         0.469          -1.664         0              0              0
  63  Cabinet         -0.839         0.469          -0.049         0              0              0
  64  Cabinet         -0.414         0.370          -0.009         0              0              0
  65  Sink            -0.118         0.875          -2.009         0              0              0
  66  StoveBurner     -1.289         0.949          -1.019         0              0              0
  67  Cabinet         0.119          2.264          -2.0           0              0              0
  68  Cabinet         -0.459         2.264          -2.0           0              0              0
  69  CounterTop      -0.665         0.949          0.188          0              0              0
  70  Drawer          -0.449         0.75           -0.010         0              180            0
  71  Cabinet         -0.450         0.469          -0.009         0              0              0
  72  CounterTop      -0.630         1.167          0.573          0              0              0
  73  StoveBurner     -1.056         0.949          -1.126         0              0              0
  74  Cabinet         1.376          0.460          -1.685         0              0              0
  75  Drawer          -0.070         0.75           -0.009         0              180            0
  76  CounterTop      1.159          0.946          -2.013         0              0              0
  77  Cabinet         -1.150         2.264          -1.418         0              90             0
  78  HousePlant      -1.246         1.108          0.606          0              0              0
  79  GarbageCan      1.923          -0.010         0.137          0              0              0
  80  Shelf           2.759          0.880          0.144          0              0              0
  81  Microwave       1.827          0.900          -1.354         0              270            0
  82  Shelf           2.759          0.552          0.145          0              0              0
  83  Fridge          1.975          0.0            -0.537         0              0              0
  84  LightSwitch     0.404          1.297          2.0            0              180            0
  85  Shelf           2.760          0.172          0.145          0              0              0
  86  SinkBasin       -0.129         0.752          -2.007         0              0              0
  87  StoveKnob       -0.873         0.903          -0.827         45             90             0
  88  StoveKnob       -0.873         0.903          -0.676         45             90             0
  89  StoveKnob       -0.873         0.903          -0.966         45             90             0
  90  StoveKnob       -0.873         0.903          -1.123         45             90             0
  91  Toaster         0.840          0.900          -2.057         0              0              0
  92  CoffeeMachine   0.501          0.900          -2.125         0              0              0
  93  ShelvingUnit    2.760          0.006          0.144          0              0              0
  94  Stool           -0.826         0.010          0.908          0              347.513        0
  95  Stool           -0.132         0.010          0.883          0              71.555         0
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: Turn around towards the spoon on the counter. | STEP 2: Pick up the spoon from the counter. | STEP 3: Turn right towards the mug on the counter. | STEP 4: Put the spoon in the mug. | STEP 5: Pick up the mug from the counter. | STEP 6: Turn around and walk to the sink. | STEP 7: Put the mug in the sink basin, to the right of the cup. | END