Task: Wash spoon and put it in a 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           0.900          0.75           0              0              0
   1  Pan             -1.237         1.679          -1.614         0              90             0              72
   2  Pan             0.107          0.925          1.202          0              90             0              78
   3  Potato          2.020          1.030          -0.599         0              270            0              91
   4  Ladle           0.107          0.969          0.041          0              0              0              78
   5  DishSponge      -0.361         0.114          -1.347         0              0              0              49
   6  ButterKnife     -0.106         0.925          0.506          0              0              0              78
   7  ButterKnife     -0.106         0.925          -0.190         0              0              0              78
   8  Spoon           1.815          0.581          0.531          0              0              0              74
   9  Spatula         -0.175         0.775          -1.490         0              90             0              94
  10  Plate           -1.750         1.467          -0.081         0              90             0              93
  11  Knife           -0.638         0.933          -1.513         0              0              0              70
  12  SoapBottle      0.194          0.116          -1.282         0              0              0              59
  13  SoapBottle      -0.844         0.915          -1.221         0              0              0              70
  14  Tomato          -1.796         0.096          1.288          0              270            0              84
  15  Tomato          -0.106         0.980          0.970          0              0              0              78
  16  Bowl            -1.692         0.561          0.013          0              90             0              93
  17  SaltShaker      -1.151         0.109          -1.360         0              0              0              82
  18  SaltShaker      -0.193         0.111          -1.284         0              0              0              49
  19  PepperShaker    -0.990         1.675          -1.614         0              0              0              72
  20  PepperShaker    -0.106         0.921          0.041          0              0              0              78
  21  Bread           0.000          1.006          0.738          0              0              0              78
  22  Lettuce         0.321          1.002          0.738          0              0              0              78
  23  Lettuce         -0.213         1.002          0.506          0              0              0              78
  24  Mug             0.000          0.920          0.273          0              0              0              78
  25  SoapBottle      0.214          0.929          -0.190         0              0              0              78
  26  Cup             1.273          0.107          -1.416         0              0              0              63
  27  Pot             -1.727         0.915          -0.914         0              0              0              70
  28  Fork            0.321          0.926          1.202          0              0              0              78
  29  Ladle           1.660          0.739          -0.015         0              0              0              54
  30  Kettle          -1.874         0.912          -1.610         0              0              0              70
  31  Egg             1.988          1.063          -0.704         0              270            0              91
  32  Plate           -1.050         0.910          -1.610         0              0              0              70
  33  Pan             1.765          0.938          0.819          0              180            0              67
  34  Lettuce         0.321          1.002          0.273          0              0              0              78
  35  Spatula         1.900          0.926          1.258          0              90             0              70
  36  Apple           -1.634         0.616          -0.269         0              90             0              93
  37  Knife           0.083          0.782          -1.435         0              0              0              94
  38  SaltShaker      -0.320         0.921          0.970          0              0              0              78
  39  PepperShaker    1.156          0.105          -1.289         0              0              0              63
  40  CellPhone       1.815          0.224          0.462          0              0              0              64
  41  ButterKnife     1.986          0.911          1.107          0              0              0              70
  42  Bread           -0.213         1.006          0.738          0              0              0              78
  43  Tomato          -1.682         0.894          -0.269         0              90             0              93
  44  Potato          0.170          0.784          -1.380         0              0              0              94
  45  DishSponge      -0.137         0.114          -1.472         0              0              0              49
  46  Spoon           0.107          0.926          0.506          0              0              0              78
  47  Mug             -1.753         1.024          -0.175         0              90             0              93
  48  Bowl            -1.803         1.674          -0.175         0              90             0              93
  49  Cabinet         -0.495         0.474          -1.149         0              0              0
  50  Window          -0.010         1.582          -1.821         0              0              0
  51  Drawer          0.805          0.475          -1.159         0              0              0
  52  StoveBurner     1.764          0.902          0.601          0              270            0
  53  Drawer          1.5            0.196          -0.019         0              0              0
  54  Drawer          1.5            0.629          -0.018         0              0              0
  55  Drawer          1.5            0.602          -0.019         0              270            0
  56  StoveBurner     1.975          0.902          0.384          0              270            0
  57  Cabinet         -1.703         2.022          -1.453         0              90             0
  58  Cabinet         1.789          2.019          -0.819         0              270            0
  59  Cabinet         0.494          0.474          -1.149         0              0              0
  60  Cabinet         0.409          0.475          0.444          0              0              0
  61  Drawer          -0.696         0.475          -1.159         0              0              0
  62  Drawer          1.5            0.140          0.599          0              270            0
  63  Cabinet         1.389          0.474          -1.149         0              0              0
  64  Drawer          1.5            0.305          0.600          0              0              0
  65  StoveBurner     1.975          0.902          0.601          0              270            0
  66  Drawer          1.5            0.429          -0.019         0              0              0
  67  StoveBurner     1.764          0.902          0.819          0              270            0
  68  Drawer          1.5            0.519          1.220          0              0              0
  69  Cabinet         1.705          2.019          -1.449         0              0              0
  70  CounterTop      0.002          0.947          -1.513         0              0              0
  71  Drawer          1.5            0.629          0.605          0              0              0
  72  Cabinet         -0.627         2.019          -1.449         0              0              0
  73  StoveBurner     1.764          0.902          0.384          0              270            0
  74  Drawer          1.5            0.538          0.600          0              0              0
  75  Sink            0.0            0.893          -1.434         0              0              0
  76  Drawer          1.5            0.782          1.220          0              270            0
  77  Window          2.217          1.565          -0.384         0              0              0
  78  CounterTop      -0.014         0.961          0.505          0              0              0
  79  Drawer          1.5            0.200          1.220          0              0              0
  80  StoveBurner     1.975          0.902          0.819          0              270            0
  81  Window          -3.240         1.616          2.693          0              270            0
  82  Cabinet         -1.389         0.474          -1.149         0              0              0
  83  LightSwitch     -0.153         1.291          3.700          0              180            0
  84  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  85  StoveKnob       1.602          0.917          0.570          0              270            180
  86  StoveKnob       1.602          0.917          0.625          0              270            180
  87  StoveKnob       1.602          0.917          0.739          0              270            180
  88  StoveKnob       1.602          0.917          0.680          0              270            180
  89  StoveKnob       1.602          0.917          0.462          0              270            180
  90  StoveKnob       1.602          0.917          0.517          0              270            180
  91  Microwave       1.932          0.899          -0.766         0              270            0
  92  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  93  Fridge          -1.764         0.0            0.014          0              90             0
  94  SinkBasin       -0.014         0.736          -1.435         0              0              0
  95  Toaster         1.977          0.900          -0.336         0              270            0
  96  Faucet          -0.020         1.137          -1.605         0              270            0
  97  Chair           -9.354         0.000          1.242          0              180            0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Face the island counter on the right | STEP 2: Pick up the spoon with the  blue handle | STEP 3: Turn left and go to the sink on the left | STEP 4: Put spoon in the sink, turn on the sink and take the spoon out | STEP 5: Turn right and go to the far right cabinet under the counter | STEP 6: Open the cabinet door, put the spoon in front of the  salt and close the door | END