Task: put a clean spoon into 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           0.25           0.900          4.0            0              90             0
   1  Ladle           2.790          0.803          3.529          0              329.999        0              57
   2  DishSponge      -0.627         0.045          2.012          0              0              0              61
   3  ButterKnife     2.276          0.764          3.821          0              270            0              57
   4  ButterKnife     2.302          0.764          3.795          0              0              0              57
   5  Pot             2.177          1.027          -1.599         0              0              0              55
   6  Spatula         2.242          0.816          1.048          0              317.0          0              69
   7  Spoon           2.061          0.765          3.580          0              225            0              57
   8  Fork            -0.544         1.028          0.692          0              0              0              59
   9  Fork            2.308          0.802          1.173          0              317.0          0              69
  10  Egg             2.763          0.808          3.726          0              329.999        0              57
  11  Cup             -0.922         1.440          -0.295         0              90             0              100
  12  Cup             -0.544         1.026          2.556          0              0              0              59
  13  Plate           1.826          2.280          -1.912         0              0              0              72
  14  Plate           -1.028         0.786          -0.184         0              90             0              100
  15  Knife           1.230          1.052          -1.667         0              90             0              56
  16  Tomato          -0.851         0.870          1.492          0              90             0              113
  17  Tomato          2.790          1.080          -0.236         0              0              0              56
  18  Bowl            -0.922         1.440          -0.627         0              90             0              100
  19  Bowl            2.276          0.762          4.044          0              270            0              57
  20  SaltShaker      2.976          0.760          3.895          0              270            0              57
  21  Bread           2.800          0.832          4.118          0              270            0              57
  22  Bread           1.956          0.832          3.685          0              225            0              57
  23  Lettuce         2.506          0.822          3.577          0              329.999        0              57
  24  Lettuce         2.478          0.822          3.773          0              329.999        0              57
  25  Mug             2.100          0.759          4.044          0              270            0              57
  26  Apple           -0.916         0.127          2.779          0              0              0              111
  27  Apple           -0.418         1.077          0.600          0              0              0              59
  28  Pan             1.836          1.027          -1.84          0              90             0              54
  29  Glassbottle     2.046          0.765          4.372          0              329.999        0              57
  30  Knife           -0.669         1.052          2.434          0              0              0              59
  31  SoapBottle      2.525          0.763          4.495          0              0              0              57
  32  Egg             -0.831         1.486          -0.184         0              90             0              100
  33  Fork            2.376          0.765          4.32           0              0              0              57
  34  Potato          -0.907         0.376          -0.738         0              90             0              100
  35  Ladle           2.761          0.839          -0.699         0              0              0              65
  36  Tomato          2.919          0.818          3.604          0              329.999        0              57
  37  Pot             2.116          1.027          -1.84          0              270            0              60
  38  WineBottle      -0.997         0.078          2.874          0              0              0              111
  39  Plate           -0.947         0.786          -0.627         0              90             0              100
  40  Spatula         -0.782         0.831          1.337          0              270            0              113
  41  PaperTowelRoll  2.376          0.868          4.145          0              90             0              57
  42  Lettuce         2.404          1.085          1.303          0              136.999        0              56
  43  Apple           1.533          1.077          1.606          0              136.999        0              56
  44  SaltShaker      -0.661         0.797          2.418          0              0              0              62
  45  PepperShaker    -0.544         1.023          2.311          0              0              0              59
  46  ButterKnife     -0.802         0.801          1.953          0              0              0              61
  47  Bread           2.525          0.832          4.145          0              0              0              57
  48  Cup             -1.059         1.440          -0.738         0              90             0              100
  49  DishSponge      -0.731         0.799          0.454          0              0              0              58
  50  Bowl            2.649          1.025          1.252          0              136.999        0              56
  51  Spoon           2.790          1.028          -0.541         0              0              0              56
  52  Mug             -0.577         0.811          1.259          0              90             0              113
  53  Sink            -0.716         1.023          1.333          0              0              0
  54  StoveBurner     1.835          1.018          -1.840         0              90             0
  55  StoveBurner     2.177          1.018          -1.599         0              0              0
  56  CounterTop      2.812          0.992          0.675          0              0              0
  57  DiningTable     2.419          0.003          3.930          0              0              0
  58  Drawer          -0.643         0.828          0.616          0              0              0
  59  CounterTop      -0.813         1.062          2.188          0              0              0
  60  StoveBurner     2.115          1.018          -1.840         0              270            0
  61  Drawer          -0.643         0.831          1.953          0              0              0
  62  Drawer          -0.643         0.833          2.418          0              0              0
  63  Drawer          1.347          0.836          -1.539         0              0              0
  64  Drawer          2.693          0.833          -1.131         0              0              0
  65  Drawer          2.693          0.833          -0.699         0              0              0
  66  Drawer          2.693          0.833          -0.267         0              0              0
  67  Drawer          2.693          0.833          0.163          0              0              0
  68  Drawer          2.524          0.833          0.720          0              2.000          0
  69  Drawer          2.232          0.833          1.036          0              2.000          0
  70  Drawer          1.936          0.833          1.354          0              2.000          0
  71  Drawer          1.646          0.833          1.670          0              2.000          0
  72  Cabinet         1.504          2.475          -1.710         0              0              0
  73  Cabinet         -0.823         2.220          1.621          0              0              0
  74  Cabinet         -0.823         2.220          0.615          0              0              0
  75  Cabinet         1.136          0.388          -1.355         0              0              0
  76  Cabinet         -0.356         0.383          2.626          0              0              0
  77  Cabinet         2.745          2.220          -1.690         0              0              0
  78  Cabinet         1.882          0.383          1.017          0              0              0
  79  Cabinet         1.307          0.473          1.640          0              0              0
  80  Cabinet         1.892          0.383          1.006          0              0              0
  81  Cabinet         2.467          0.383          0.383          0              0              0
  82  Cabinet         2.466          0.383          -0.475         0              0              0
  83  Cabinet         2.466          0.473          0.371          0              0              0
  84  Cabinet         2.386          2.475          -1.710         0              0              0
  85  Cabinet         -0.356         0.383          1.712          0              0              0
  86  Cabinet         2.745          2.220          0.019          0              0              0
  87  Cabinet         -0.663         2.496          0.157          0              0              0
  88  Cabinet         -0.663         2.496          -0.868         0              0              0
  89  Cabinet         -0.356         0.383          0.269          0              0              0
  90  Cabinet         -0.823         2.220          1.603          0              0              0
  91  Cabinet         -0.662         2.234          0.586          0              0              0
  92  Cabinet         2.745          2.220          -0.843         0              0              0
  93  Cabinet         2.745          2.220          -0.827         0              0              0
  94  Cabinet         -0.823         2.220          2.608          0              0              0
  95  Cabinet         2.732          2.226          -1.709         0              0              0
  96  Cabinet         1.137          2.226          -1.709         0              0              0
  97  Cabinet         2.466          0.383          -0.491         0              0              0
  98  Cabinet         2.466          0.383          -1.339         0              0              0
  99  StoveBurner     1.761          1.018          -1.599         0              0              0
 100  Fridge          -0.908         0.0            -0.405         0              0              0
 101  HousePlant      2.517          1.016          1.822          0              0              0
 102  Microwave       1.939          1.745          -1.826         0              0              0
 103  StoveKnob       2.017          1.041          -1.514         0              180            180
 104  StoveKnob       1.934          1.041          -1.514         0              180            180
 105  StoveKnob       2.017          1.041          -1.589         0              180            180
 106  StoveKnob       1.934          1.041          -1.589         0              180            180
 107  Window          1.756          1.608          4.762          90             0              0
 108  HousePlant      2.171          1.004          2.091          0              0              0
 109  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 110  LightSwitch     -0.099         1.410          -2.066         0              0              0
 111  GarbageCan      -0.951         -0.029         2.826          0              0              0
 112  Toaster         -1.007         1.018          2.238          0              90             0
 113  SinkBasin       -0.714         0.805          1.348          0              90             0
 114  Chair           1.615          0.004          4.310          0              107.976        0
 115  Faucet          -1.120         1.013          1.334          0              90             0
 116  Chair           2.759          0.004          3.086          0              358.967        0
 117
 118  NorthWall
 119  EastWall
 120  SouthWall
 121  WestWall

Plan:
STEP 1: move toward the right hand side of the white round table and face the table | STEP 2: pick up the spoon from the table | STEP 3: turn to the left move forward a few steps, turn left, move forward and turn right moving towards the sink | STEP 4: put the spoon into the sink and turn on the water to clean the spoon, turn off the water and pick up the clean spoon | STEP 5: turn to the lower cabinet that is to the right of the sink | STEP 6: open the cabinet door, put the spoon into the cabinet in front of the sponge and close the cabinet door | END