Task: Place clean measuring spoon in cabinet below sink

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          1.75           0              180            0
   1  WineBottle      0.060          0.938          2.827          0              0              0              54
   2  WineBottle      2.225          0.939          0.361          0              0              0              65
   3  ButterKnife     -0.119         0.791          1.386          0              0              0              81
   4  Spatula         -0.033         0.761          2.197          0              270            0              53
   5  Spatula         1.906          0.760          0.446          0              90             0              63
   6  Spoon           -0.349         0.792          1.217          0              0              0              81
   7  Fork            -0.138         0.747          2.061          0              90             0              53
   8  Fork            0.576          0.795          2.695          0              270            0              78
   9  Egg             -0.362         1.078          2.121          0              90             0              79
  10  Egg             -0.196         0.833          1.386          0              0              0              81
  11  Cup             -0.042         0.789          1.049          0              0              0              81
  12  Plate           2.059          0.342          -0.369         0              270            0              75
  13  SoapBottle      -0.425         0.791          1.049          0              270            0              81
  14  Tomato          1.840          0.984          0.435          0              0              0              65
  15  Tomato          -0.053         0.983          2.757          0              0              0              54
  16  PepperShaker    -0.272         0.785          1.217          0              0              0              81
  17  PepperShaker    1.887          0.077          2.199          0              0              0              50
  18  Lettuce         1.673          0.999          2.511          0              0              0              54
  19  Lettuce         2.112          1.385          -0.188         0              270            0              75
  20  Mug             2.203          1.498          0.418          0              0              0              52
  21  Mug             2.168          1.316          -0.460         0              270            0              75
  22  Apple           1.994          0.988          0.361          0              0              0              65
  23  Egg             0.033          0.833          1.217          0              0              0              81
  24  Lettuce         2.122          0.664          -0.278         0              270            0              75
  25  Fork            -0.425         0.791          0.881          0              270            0              81
  26  SoapBottle      1.840          0.939          0.583          0              0              0              65
  27  Ladle           2.150          0.982          2.063          0              0              0              54
  28  Ladle           2.205          1.993          1.097          0              0              0              64
  29  Bread           -0.199         0.823          0.813          0              0              0              81
  30  SaltShaker      -0.425         0.785          1.386          0              0              0              81
  31  Potato          -0.425         0.831          0.545          0              0              0              81
  32  Pan             2.140          0.935          1.504          0              180            0              49
  33  WineBottle      -0.272         0.791          0.377          0              0              0              81
  34  Spatula         0.788          0.810          2.750          0              270            0              78
  35  Knife           -0.053         0.963          2.478          0              0              0              54
  36  Tomato          -0.196         0.837          1.049          0              0              0              81
  37  Apple           2.179          1.569          -0.550         0              270            0              75
  38  ButterKnife     1.660          0.926          2.473          0              352.515        0              54
  39  Pot             1.854          0.937          1.497          0              0              0              58
  40  PepperShaker    2.282          1.496          2.010          0              0              0              57
  41  Cup             -0.119         0.789          0.545          0              0              0              81
  42  DishSponge      2.281          1.948          1.468          0              0              0              59
  43  Plate           1.227          0.085          2.523          0              0              0              60
  44  Spoon           0.174          0.938          2.618          0              0              0              54
  45  Mug             2.137          0.855          -0.550         0              270            0              75
  46  Bowl            -0.328         1.032          1.961          0              90             0              79
  47  Cabinet         2.041          2.113          2.618          0              0              0
  48  Cabinet         0.126          0.388          1.774          0              0              0
  49  StoveBurner     2.140          0.929          1.504          0              180            0
  50  Cabinet         1.760          0.388          2.346          0              0              0
  51  Cabinet         1.760          0.388          0.869          0              0              0
  52  Cabinet         2.041          1.810          0.283          0              0              0
  53  Drawer          -0.024         0.774          2.061          0              0              0
  54  CounterTop      1.065          0.973          2.666          0              0              0
  55  Cabinet         1.969          2.113          2.618          0              0              0
  56  StoveBurner     2.140          0.929          1.106          0              0              0
  57  Cabinet         2.041          2.113          1.809          0              0              0
  58  StoveBurner     1.866          0.929          1.504          0              180            0
  59  Cabinet         2.041          2.113          1.766          0              0              0
  60  Cabinet         1.514          0.388          2.360          0              0              0
  61  Cabinet         0.351          0.388          2.360          0              0              0
  62  Cabinet         2.041          1.810          0.872          0              0              0
  63  Drawer          2.167          0.774          0.582          0              0              0
  64  Cabinet         2.041          2.113          0.892          0              0              0
  65  CounterTop      2.060          0.973          0.583          0              0              0
  66  Sink            0.935          0.936          2.646          0              0              0
  67  Curtains        0.964          2.061          2.989          0              0              0
  68  StoveBurner     1.863          0.929          1.106          0              0              0
  69  Drawer          1.911          0.774          2.060          0              0              0
  70  StoveKnob       2.326          1.092          1.610          288.013        90             0
  71  StoveKnob       2.326          1.092          1.460          288.013        90             0
  72  StoveKnob       2.326          1.092          1.210          288.013        90             0
  73  StoveKnob       2.326          1.092          1.050          288.013        90             0
  74  Toaster         2.126          0.926          0.572          0              270            0
  75  Fridge          2.104          0.0            -0.279         0              270            0
  76  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  77  LightSwitch     0.354          1.518          -1.031         0              0              0
  78  SinkBasin       0.903          0.784          2.640          0              0              0
  79  Microwave       -0.310         0.926          2.077          0              90             0
  80  CoffeeMachine   2.084          0.927          2.667          0              225            0
  81  DiningTable     -0.153         -0.000         1.073          0              270            0
  82  Faucet          1.175          0.926          2.950          270            90             0
  83  Faucet          0.686          0.926          2.950          270            90             0
  84  Chair           -0.077         0.002          0.196          0              15.000         0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: turn left, go to counter to the left of stove | STEP 2: pick up measuring spoon from counter in between stove and coffee maker | STEP 3: turn left, go to right side of sink | STEP 4: place measuring spoon in right sink, turn on water, turn off water, pick up measuring spoon from sink | STEP 5: look down to cabinet below sink | STEP 6: open right door of cabinet below sink, place measuring spoon to the left of silver bowl in cabinet, close cabinet door  | END