Task: Put the clean turner on 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            0.930          -1.5           0              0              0
   1  Potato          0.773          0.924          -1.448         0              0              0              114
   2  Potato          0.929          0.749          -1.354         0              0              0              114
   3  DishSponge      0.494          0.899          -1.373         0              0              0              89
   4  DishSponge      3.200          0.900          -0.399         0              0              0              67
   5  ButterKnife     3.277          0.900          -0.798         0              0              0              67
   6  ButterKnife     -0.868         0.326          0.839          0              0              0              69
   7  Kettle          1.360          0.909          0.889          0              0              0              99
   8  Kettle          3.084          0.176          -0.356         0              0              0              79
   9  Spoon           3.111          0.748          -0.100         0              0              0              113
  10  Fork            0.110          0.900          -1.332         0              45             0              89
  11  Fork            -0.991         0.131          1.255          0              90             0              92
  12  CellPhone       0.614          0.905          0.577          0              36.810         0              99
  13  CellPhone       0.356          0.905          0.326          0              0              0              99
  14  Mug             -1.052         0.992          1.523          0              180            0              116
  15  Mug             -0.789         0.895          0.846          0              180            0              68
  16  Apple           -1.018         1.071          1.258          0              90             0              116
  17  Apple           -0.651         0.974          -0.675         0              45             0              68
  18  Bread           1.098          0.986          0.605          0              0              0              99
  19  Bread           -1.008         0.979          0.176          0              0              0              68
  20  Lettuce         0.851          1.313          -1.503         0              0              0              114
  21  Bowl            -0.935         0.897          0.846          0              0              0              68
  22  Bowl            3.084          0.174          0.770          0              0              0              77
  23  SoapBottle      0.887          0.920          0.527          0              0              0              99
  24  Tomato          0.533          0.947          0.326          0              0              0              99
  25  Tomato          0.022          0.937          -1.588         0              0              0              89
  26  Cup             -0.942         1.256          -0.836         0              45             0              87
  27  Plate           0.778          0.923          0.332          0              36.810         0              99
  28  Plate           3.102          1.477          -1.235         0              0              0              82
  29  Plate           1.208          1.687          -1.480         0              0              0              59
  30  Glassbottle     0.904          1.675          -1.689         0              0              0              83
  31  SoapBottle      2.915          0.186          0.911          0              0              0              77
  32  Potato          2.966          0.939          0.947          0              0              0              67
  33  Fork            3.07           0.753          0.098          0              270            0              113
  34  Ladle           2.915          0.214          0.559          0              90             0              77
  35  Pot             0.423          0.900          0.869          0              0              0              99
  36  Kettle          -0.600         0.902          -1.090         0              135            0              57
  37  Spatula         3.044          0.915          -0.798         0              0              0              67
  38  Knife           1.229          0.933          0.747          0              90             0              99
  39  Lettuce         0.887          0.973          0.827          0              0              0              99
  40  Cup             -1.008         0.898          0.623          0              0              0              68
  41  SaltShaker      -0.299         1.259          -1.534         0              45             0              85
  42  Egg             -1.018         1.050          1.417          0              90             0              116
  43  PepperShaker    -0.076         0.129          -1.258         0              45             0              93
  44  ButterKnife     -0.862         0.900          0.399          0              0              0              68
  45  Apple           3.128          0.174          1.546          0              225            0              109
  46  Pan             0.341          0.873          -1.649         0              167.065        0              89
  47  Bread           1.534          0.972          0.486          0              289.287        0              99
  48  CellPhone       -0.868         0.128          0.664          0              0              0              98
  49  DishSponge      -0.868         0.325          1.255          0              0              0              103
  50  Tomato          -0.131         0.937          -1.296         0              45             0              89
  51  Spoon           0.095          0.901          -1.625         0              135            0              89
  52  Bowl            -0.789         0.897          -0.047         0              0              0              68
  53  Mug             1.086          0.706          -1.354         0              270            0              114
  54  Drawer          0.376          0.572          -1.509         0              0              0
  55  Drawer          3.020          0.769          -0.783         0              180            0
  56  Drawer          -0.860         0.577          1.429          0              0              0
  57  StoveBurner     -0.600         0.897          -1.090         0              135            0
  58  Drawer          0.376          0.191          -1.509         0              0              0
  59  Cabinet         1.402          1.874          -1.259         0              0              0
  60  Cabinet         -0.202         1.963          -1.328         0              0              0
  61  Drawer          -0.860         0.765          1.429          0              0              0
  62  Drawer          -0.677         0.765          -0.700         0              0              0
  63  StoveBurner     -0.420         0.897          -0.920         0              135            0
  64  Drawer          3.020          0.769          -0.407         0              180            0
  65  Drawer          -0.860         0.577          0.663          0              0              0
  66  Cabinet         2.819          1.768          -1.850         0              0              0
  67  CounterTop      3.111          0.936          0.019          0              0              0
  68  CounterTop      -1.007         0.935          -0.039         0              0              0
  69  Drawer          -0.860         0.385          0.663          0              0              0
  70  StoveBurner     -0.419         0.897          -1.269         0              315            0
  71  Drawer          -0.047         0.573          -1.324         0              0              0
  72  Drawer          -0.860         0.765          0.663          0              0              0
  73  Drawer          -0.860         0.385          -0.100         0              0              0
  74  Drawer          0.376          0.380          -1.509         0              0              0
  75  Drawer          -0.860         0.765          -0.100         0              0              0
  76  Drawer          0.376          0.765          -1.509         0              0              0
  77  Cabinet         2.849          0.419          0.409          0              0              0
  78  Drawer          -0.047         0.765          -1.324         0              0              0
  79  Cabinet         2.849          0.419          -0.610         0              0              0
  80  Cabinet         2.849          0.419          -0.959         0              0              0
  81  Cabinet         3.069          1.666          -0.709         0              0              0
  82  Cabinet         2.819          1.768          -1.047         0              0              0
  83  Cabinet         0.620          1.874          -1.259         0              0              0
  84  Cabinet         0.140          1.666          -1.559         0              0              0
  85  Cabinet         -0.189         1.666          -1.340         0              0              0
  86  Cabinet         -0.709         1.963          -0.819         0              0              0
  87  Cabinet         -0.920         1.665          -0.620         0              0              0
  88  Drawer          -0.860         0.190          -0.100         0              0              0
  89  CounterTop      0.133          0.935          -1.457         0              0              0
  90  Drawer          3.020          0.769          0.695          0              180            0
  91  Drawer          -0.677         0.577          -0.700         0              0              0
  92  Drawer          -0.860         0.190          1.429          0              0              0
  93  Drawer          -0.047         0.192          -1.324         0              0              0
  94  Drawer          -0.677         0.193          -0.700         0              0              0
  95  Drawer          -0.860         0.577          -0.100         0              0              0
  96  Sink            3.078          0.887          0.086          0              0              0
  97  StoveBurner     -0.239         0.897          -1.089         0              315            0
  98  Drawer          -0.860         0.190          0.663          0              0              0
  99  CounterTop      1.210          0.937          0.463          0              0              0
 100  Drawer          -0.047         0.381          -1.324         0              0              0
 101  Drawer          -0.677         0.387          -0.700         0              0              0
 102  Mirror          -1.295         1.630          0.045          0              0              0
 103  Drawer          -0.860         0.385          1.429          0              0              0
 104  HousePlant      3.196          0.891          -0.368         0              0              0
 105  StoveKnob       -0.090         0.790          -1.009         270            45             0
 106  StoveKnob       -0.280         0.790          -0.819         270            45             0
 107  StoveKnob       -0.180         0.790          -0.920         270            45             0
 108  StoveKnob       -0.370         0.790          -0.720         270            45             0
 109  GarbageCan      3.137          0.025          1.545          0              225            0
 110  Window          3.703          1.675          0.046          90             90             0
 111  CoffeeMachine   3.214          0.890          0.697          0              270            0
 112  LightSwitch     2.592          1.309          -1.880         0              0              0
 113  SinkBasin       3.069          0.736          0.108          0              90             0
 114  Fridge          1.008          0.029          -1.467         0              0              0
 115  Toaster         -1.035         0.873          -0.396         0              90             0
 116  Microwave       -1.034         0.874          1.428          0              90             0
 117  Faucet          3.305          0.886          0.094          270            180            0
 118  NorthWall
 119  EastWall
 120  SouthWall
 121  WestWall

Plan:
STEP 1: walk forward then turn right on the sink counter | STEP 2: Pick up the turner on the counter | STEP 3: Turn left then face the sink on the right | STEP 4: Put the turner in the sink and rinse it | STEP 5: Turn right then face to the left facing the counter | STEP 6: Put the turner on the counter | END