Task: Put a clean measuring spoon in the sink cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.901          0.75           0              270            0
   1  WineBottle      2.002          0.083          2.199          0              0              0              51
   2  WineBottle      1.917          0.939          0.361          0              0              0              66
   3  DishSponge      1.906          0.745          0.446          0              0              0              64
   4  DishSponge      0.033          0.790          1.049          0              0              0              82
   5  Spoon           -0.272         0.792          1.386          0              0              0              82
   6  Egg             1.118          0.837          2.750          0              0              0              79
   7  Egg             0.033          0.833          0.545          0              0              0              82
   8  Cup             0.576          0.793          2.64           0              0              0              79
   9  Plate           0.637          0.085          2.523          0              0              0              62
  10  Knife           -0.119         0.816          1.217          0              0              0              82
  11  Knife           1.815          0.771          1.922          0              90             0              70
  12  Tomato          -0.042         0.837          0.377          0              0              0              82
  13  Tomato          0.033          0.837          1.386          0              0              0              82
  14  Bowl            2.231          1.515          -0.460         0              270            0              76
  15  Bowl            2.000          1.320          -0.369         0              270            0              76
  16  SaltShaker      1.849          0.077          1.915          0              0              0              51
  17  SaltShaker      2.165          1.498          0.448          0              270            0              53
  18  PepperShaker    -0.118         0.932          2.451          0              0              0              55
  19  PepperShaker    2.241          1.498          0.478          0              0              0              53
  20  Lettuce         2.059          0.400          -0.097         0              270            0              76
  21  Mug             2.158          0.855          -0.460         0              270            0              76
  22  Apple           -0.294         1.085          1.961          0              90             0              80
  23  Apple           2.164          0.652          -0.278         0              270            0              76
  24  Egg             -0.349         0.833          1.049          0              0              0              82
  25  Lettuce         0.277          0.989          2.611          0              60.216         0              55
  26  Fork            2.011          0.747          0.652          0              90             0              64
  27  SoapBottle      1.156          0.082          2.484          0              0              0              61
  28  Ladle           1.941          0.790          0.652          0              90             0              64
  29  Ladle           2.206          1.545          2.010          0              0              0              58
  30  Bread           -0.199         0.823          0.813          0              0              0              82
  31  SaltShaker      -0.282         0.932          2.548          0              0              0              55
  32  Potato          -0.425         0.831          0.713          0              0              0              82
  33  Pan             2.140          0.935          1.504          0              180            0              50
  34  WineBottle      1.840          0.939          0.583          0              0              0              66
  35  Spatula         2.118          0.949          1.993          0              341.649        0              55
  36  Knife           2.301          0.963          0.583          0              90             0              66
  37  Tomato          2.137          0.907          -0.278         0              270            0              76
  38  Apple           -0.395         1.085          2.014          0              90             0              80
  39  ButterKnife     1.917          0.938          0.583          0              180            0              66
  40  Pot             1.854          0.937          1.497          0              0              0              59
  41  PepperShaker    0.033          0.785          1.217          0              0              0              82
  42  Cup             1.369          0.079          2.562          0              0              0              61
  43  DishSponge      2.281          1.948          1.515          0              0              0              60
  44  Plate           -0.312         0.781          0.409          0              0              0              82
  45  Spoon           -0.349         0.792          1.217          0              0              0              82
  46  Mug             2.064          0.989          2.462          0              225            0              81
  47  Bowl            -0.272         0.787          1.217          0              0              0              82
  48  Cabinet         2.041          2.113          2.618          0              0              0
  49  Cabinet         0.126          0.388          1.774          0              0              0
  50  StoveBurner     2.140          0.929          1.504          0              180            0
  51  Cabinet         1.760          0.388          2.346          0              0              0
  52  Cabinet         1.760          0.388          0.869          0              0              0
  53  Cabinet         2.041          1.810          0.283          0              0              0
  54  Drawer          -0.024         0.774          2.061          0              0              0
  55  CounterTop      1.065          0.973          2.666          0              0              0
  56  Cabinet         1.969          2.113          2.618          0              0              0
  57  StoveBurner     2.140          0.929          1.106          0              0              0
  58  Cabinet         2.041          2.113          1.809          0              0              0
  59  StoveBurner     1.866          0.929          1.504          0              180            0
  60  Cabinet         2.041          2.113          1.766          0              0              0
  61  Cabinet         1.514          0.388          2.360          0              0              0
  62  Cabinet         0.351          0.388          2.360          0              0              0
  63  Cabinet         2.041          1.810          0.872          0              0              0
  64  Drawer          2.167          0.774          0.582          0              0              0
  65  Cabinet         2.041          2.113          0.892          0              0              0
  66  CounterTop      2.060          0.973          0.583          0              0              0
  67  Sink            0.935          0.936          2.646          0              0              0
  68  Curtains        0.964          2.061          2.989          0              0              0
  69  StoveBurner     1.863          0.929          1.106          0              0              0
  70  Drawer          1.911          0.774          2.060          0              0              0
  71  StoveKnob       2.326          1.092          1.610          288.013        90             0
  72  StoveKnob       2.326          1.092          1.460          288.013        90             0
  73  StoveKnob       2.326          1.092          1.210          288.013        90             0
  74  StoveKnob       2.326          1.092          1.050          288.013        90             0
  75  Toaster         2.126          0.926          0.572          0              270            0
  76  Fridge          2.104          0.0            -0.279         0              270            0
  77  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  78  LightSwitch     0.354          1.518          -1.031         0              0              0
  79  SinkBasin       0.903          0.784          2.640          0              0              0
  80  Microwave       -0.310         0.926          2.077          0              90             0
  81  CoffeeMachine   2.084          0.927          2.667          0              225            0
  82  DiningTable     -0.153         -0.000         1.073          0              270            0
  83  Faucet          1.175          0.926          2.950          270            90             0
  84  Faucet          0.686          0.926          2.950          270            90             0
  85  Chair           -0.077         0.002          0.196          0              15.000         0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Go to the cupboard | STEP 2: Take a measuring spoon out of the cupboard | STEP 3: Go to the sink | STEP 4: Wash the measuring spoon | STEP 5: Go to the sink cabinet | STEP 6: Put the measuring spoon in the cabinet | END