Task: Put the clean spoon on the cabinet

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          3.75           0              0              0
   1  Potato          2.976          0.806          4.044          0              270            0              51
   2  Ladle           1.230          1.066          -1.560         0              90             0              50
   3  DishSponge      2.650          0.802          -1.086         0              0              0              58
   4  ButterKnife     2.658          0.764          4.282          0              225            0              51
   5  Glassbottle     -0.577         0.817          1.414          0              90             0              107
   6  Glassbottle     2.138          0.765          4.213          0              329.999        0              51
   7  Pot             1.836          1.027          -1.84          0              90             0              48
   8  Pot             2.177          1.027          -1.599         0              0              0              49
   9  Spatula         -0.590         0.815          0.858          0              270            0              52
  10  Spatula         2.525          0.779          4.32           0              0              0              51
  11  Egg             -0.544         1.071          0.600          0              0              0              53
  12  Cup             2.599          0.763          4.145          0              0              0              51
  13  Plate           2.599          0.764          4.495          0              0              0              51
  14  SoapBottle      2.451          0.763          3.97           0              270            0              51
  15  Bowl            -0.851         0.814          1.181          0              90             0              107
  16  PepperShaker    3.068          0.028          -0.426         0              0              0              76
  17  Bread           2.414          0.832          3.736          0              329.999        0              51
  18  Bread           2.216          0.832          3.945          0              225            0              51
  19  Mug             -1.059         1.437          -0.738         0              90             0              94
  20  Mug             -1.059         1.437          -0.184         0              90             0              94
  21  Apple           2.975          0.814          4.192          0              270            0              51
  22  Pan             1.668          2.280          -1.873         0              270            0              48
  23  Glassbottle     -1.028         0.786          -0.184         0              90             0              94
  24  Knife           1.230          1.052          -1.774         0              90             0              50
  25  SoapBottle      2.763          0.763          4.177          0              225            0              51
  26  Egg             2.000          1.895          -1.843         0              0              0              96
  27  Fork            2.976          0.765          3.970          0              270            0              51
  28  Potato          2.840          0.806          4.359          0              225            0              51
  29  Ladle           2.763          0.803          3.726          0              329.999        0              51
  30  Tomato          -1.013         1.495          -0.295         0              90             0              94
  31  Pot             1.761          1.027          -1.599         0              0              0              93
  32  WineBottle      -1.074         1.028          1.427          0              0              0              53
  33  Plate           2.175          0.764          4.447          0              329.999        0              51
  34  Spatula         2.873          0.816          0.072          0              90             0              61
  35  PaperTowelRoll  -0.875         0.181          2.748          0              0              0              105
  36  Lettuce         -0.987         0.844          -0.406         0              90             0              94
  37  Apple           -0.922         1.492          -0.184         0              90             0              94
  38  SaltShaker      2.542          0.760          3.810          0              329.999        0              51
  39  PepperShaker    -0.715         0.042          2.129          0              0              0              55
  40  ButterKnife     -0.645         0.816          1.259          0              180            0              107
  41  Bread           -0.544         1.095          2.311          0              0              0              53
  42  Cup             2.376          0.763          4.145          0              0              0              51
  43  DishSponge      -0.519         0.799          1.899          0              0              0              55
  44  Bowl            -0.858         0.332          -0.516         0              90             0              94
  45  Spoon           2.594          0.802          0.072          0              90             0              61
  46  Mug             2.376          0.759          4.495          0              0              0              51
  47  Sink            -0.716         1.023          1.333          0              0              0
  48  StoveBurner     1.835          1.018          -1.840         0              90             0
  49  StoveBurner     2.177          1.018          -1.599         0              0              0
  50  CounterTop      2.812          0.992          0.675          0              0              0
  51  DiningTable     2.419          0.003          3.930          0              0              0
  52  Drawer          -0.643         0.828          0.616          0              0              0
  53  CounterTop      -0.813         1.062          2.188          0              0              0
  54  StoveBurner     2.115          1.018          -1.840         0              270            0
  55  Drawer          -0.643         0.831          1.953          0              0              0
  56  Drawer          -0.643         0.833          2.418          0              0              0
  57  Drawer          1.347          0.836          -1.539         0              0              0
  58  Drawer          2.693          0.833          -1.131         0              0              0
  59  Drawer          2.693          0.833          -0.699         0              0              0
  60  Drawer          2.693          0.833          -0.267         0              0              0
  61  Drawer          2.693          0.833          0.163          0              0              0
  62  Drawer          2.524          0.833          0.720          0              2.000          0
  63  Drawer          2.232          0.833          1.036          0              2.000          0
  64  Drawer          1.936          0.833          1.354          0              2.000          0
  65  Drawer          1.646          0.833          1.670          0              2.000          0
  66  Cabinet         1.504          2.475          -1.710         0              0              0
  67  Cabinet         -0.823         2.220          1.621          0              0              0
  68  Cabinet         -0.823         2.220          0.615          0              0              0
  69  Cabinet         1.136          0.388          -1.355         0              0              0
  70  Cabinet         -0.356         0.383          2.626          0              0              0
  71  Cabinet         2.745          2.220          -1.690         0              0              0
  72  Cabinet         1.882          0.383          1.017          0              0              0
  73  Cabinet         1.307          0.473          1.640          0              0              0
  74  Cabinet         1.892          0.383          1.006          0              0              0
  75  Cabinet         2.467          0.383          0.383          0              0              0
  76  Cabinet         2.466          0.383          -0.475         0              0              0
  77  Cabinet         2.466          0.473          0.371          0              0              0
  78  Cabinet         2.386          2.475          -1.710         0              0              0
  79  Cabinet         -0.356         0.383          1.712          0              0              0
  80  Cabinet         2.745          2.220          0.019          0              0              0
  81  Cabinet         -0.663         2.496          0.157          0              0              0
  82  Cabinet         -0.663         2.496          -0.868         0              0              0
  83  Cabinet         -0.356         0.383          0.269          0              0              0
  84  Cabinet         -0.823         2.220          1.603          0              0              0
  85  Cabinet         -0.662         2.234          0.586          0              0              0
  86  Cabinet         2.745          2.220          -0.843         0              0              0
  87  Cabinet         2.745          2.220          -0.827         0              0              0
  88  Cabinet         -0.823         2.220          2.608          0              0              0
  89  Cabinet         2.732          2.226          -1.709         0              0              0
  90  Cabinet         1.137          2.226          -1.709         0              0              0
  91  Cabinet         2.466          0.383          -0.491         0              0              0
  92  Cabinet         2.466          0.383          -1.339         0              0              0
  93  StoveBurner     1.761          1.018          -1.599         0              0              0
  94  Fridge          -0.908         0.0            -0.405         0              0              0
  95  HousePlant      2.517          1.016          1.822          0              0              0
  96  Microwave       1.939          1.745          -1.826         0              0              0
  97  StoveKnob       2.017          1.041          -1.514         0              180            180
  98  StoveKnob       1.934          1.041          -1.514         0              180            180
  99  StoveKnob       2.017          1.041          -1.589         0              180            180
 100  StoveKnob       1.934          1.041          -1.589         0              180            180
 101  Window          1.756          1.608          4.762          90             0              0
 102  HousePlant      2.171          1.004          2.091          0              0              0
 103  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 104  LightSwitch     -0.099         1.410          -2.066         0              0              0
 105  GarbageCan      -0.951         -0.029         2.826          0              0              0
 106  Toaster         -1.007         1.018          2.238          0              90             0
 107  SinkBasin       -0.714         0.805          1.348          0              90             0
 108  Chair           1.615          0.004          4.310          0              107.976        0
 109  Faucet          -1.120         1.013          1.334          0              90             0
 110  Chair           2.759          0.004          3.086          0              358.967        0
 111
 112  NorthWall
 113  EastWall
 114  SouthWall
 115  WestWall

Plan:
STEP 1: Turn around to your right, walk across the room and head to the counter beside the door | STEP 2: Pick up the spoon beside the knife on the counter | STEP 3: Turn to your left and head to the sink on your left | STEP 4: Place the spoon on the sink then rinse it | STEP 5: Pick up the spoon on the sink and find the cabinet under sink | STEP 6: Open the cabinet door and put the spoon inside right next to the salt | END