Task: move a mug with spoon in to 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           0.25           0.900          0.0            0              0              0
   1  Potato          -2.206         0.947          0.631          0              0              0              68
   2  DishSponge      0.683          0.910          -1.369         0              0              0              50
   3  Spoon           -0.730         0.912          1.540          0              0              0              40
   4  Spatula         1.337          0.934          -1.115         0              225            0              54
   5  Cup             -2.393         1.298          -0.602         0              90             0              72
   6  Cup             -2.605         1.936          -0.578         0              0              0              62
   7  Cup             1.598          0.908          0.435          0              0              0              49
   8  Knife           -2.318         0.799          0.486          0              270            0              57
   9  Tomato          1.729          0.227          0.706          0              0              0              79
  10  Tomato          -2.390         0.252          -0.570         0              90             0              72
  11  SoapBottle      -2.560         1.539          2.057          0              0              0              52
  12  SoapBottle      0.048          0.912          0.647          0              0              0              40
  13  Bowl            1.772          1.660          -0.407         0              0              0              60
  14  SaltShaker      -0.081         0.905          1.540          0              0              0              40
  15  Bread           -2.621         0.996          1.230          0              0              0              68
  16  Bread           -0.341         0.996          1.094          0              0              0              40
  17  Pan             1.411          0.929          0.064          0              0              0              69
  18  Knife           -2.227         0.798          0.486          0              270            0              57
  19  Apple           -2.393         1.362          -0.790         0              90             0              72
  20  Bowl            -2.420         0.591          -0.603         0              90             0              72
  21  Fork            1.513          0.911          -0.768         0              0              0              50
  22  Bread           -2.621         0.996          0.631          0              0              0              68
  23  Plate           -0.211         0.913          1.764          0              0              0              40
  24  Egg             -2.439         1.331          -0.885         0              90             0              72
  25  Kettle          -2.638         1.539          0.629          0              0              0              63
  26  Potato          1.426          0.954          -1.096         0              225            0              54
  27  SaltShaker      -2.313         0.109          0.437          0              0              0              65
  28  Lettuce         1.770          0.994          -0.726         0              0              0              50
  29  Cup             1.248          0.916          -1.134         0              225            0              54
  30  SoapBottle      -0.730         0.912          0.870          0              0              0              40
  31  Spatula         -2.318         0.789          1.000          0              270            0              45
  32  PaperTowelRoll  -0.471         1.015          1.317          0              0              0              40
  33  ButterKnife     -0.081         0.910          0.423          0              0              0              40
  34  PepperShaker    -2.642         1.933          -0.353         0              0              0              62
  35  DishSponge      -2.638         1.537          0.846          0              0              0              64
  36  Pot             1.691          0.929          0.064          0              0              0              51
  37  Spoon           1.291          0.919          -1.231         0              225            0              54
  38  Tomato          -2.439         1.342          -1.074         0              90             0              72
  39  Mug             -2.310         0.109          -0.172         0              90             0              56
  40  CounterTop      -0.360         0.946          1.093          0              0              0
  41  StoveBurner     1.412          0.923          -0.335         0              0              0
  42  StoveKnob       1.878          1.093          0.018          287.989        90             0
  43  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  44  Cabinet         -2.446         1.948          2.924          0              0              0
  45  Drawer          -2.276         0.792          0.902          0              0              0
  46  Cabinet         -2.145         0.402          1.578          0              0              0
  47  Cabinet         0.149          2.008          -1.603         0              90             0
  48  StoveBurner     1.691          0.923          -0.335         0              0              0
  49  CounterTop      1.585          0.946          0.405          0              0              0
  50  CounterTop      0.474          0.946          -1.625         0              0              0
  51  StoveBurner     1.691          0.923          0.064          0              0              0
  52  Cabinet         -2.446         1.948          1.687          0              0              0
  53  Cabinet         -2.446         1.948          1.640          0              0              0
  54  Sink            1.381          0.810          -1.271         0              225            0
  55  StoveKnob       1.878          1.093          0.150          287.989        90             0
  56  Cabinet         -2.145         0.402          -0.236         0              0              0
  57  Drawer          -2.276         0.792          0.437          0              0              0
  58  Drawer          -2.276         0.792          -0.027         0              0              0
  59  Cabinet         1.572          2.008          0.474          0              0              0
  60  Cabinet         1.572          2.008          -0.775         0              0              0
  61  Cabinet         -2.445         2.148          -1.275         0              0              0
  62  Cabinet         -2.446         2.148          -0.284         0              0              0
  63  Cabinet         -2.446         1.948          0.355          0              0              0
  64  Cabinet         -2.446         1.948          0.405          0              0              0
  65  Cabinet         -2.145         0.402          0.644          0              0              0
  66  Cabinet         -2.145         0.402          0.695          0              0              0
  67  Cabinet         -2.285         1.968          -1.325         0              180            0
  68  CounterTop      -1.485         0.946          1.319          0              0              0
  69  StoveBurner     1.411          0.923          0.064          0              0              0
  70  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  71  Drawer          -2.276         0.792          1.368          0              0              0
  72  Fridge          -2.475         0.0            -0.782         0              90             0
  73  LightSwitch     -0.929         1.350          -1.950         0              0              0
  74  Toaster         -2.564         0.900          1.876          0              90             0
  75  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  76  Window          1.508          1.534          -1.496         90             135            0
  77  Window          1.973          1.521          1.121          90             90             0
  78  SinkBasin       1.149          0.753          -1.380         0              225            0
  79  GarbageCan      1.646          -0.000         0.679          0              0              0
  80  Microwave       -2.580         0.900          2.440          0              90             0
  81  Stool           0.439          0.010          0.747          0              0              0
  82  Stool           -2.303         0.010          1.839          0              0              0
  83  Faucet          1.235          1.138          -1.473         0              225            0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: turn around, walk forward, turn left to face sink | STEP 2: pick up the mug with spoon that is by the sink | STEP 3: take a few steps to the right | STEP 4: put the mug with spoon in the sink | END