Task: Put a clean large spoon in the cabinet under the sink

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          4.25           0              90             0
   1  Potato          1.895          1.903          -1.843         0              0              0              97
   2  Potato          -0.922         1.484          -0.738         0              90             0              95
   3  DishSponge      -1.159         1.027          1.427          0              0              0              54
   4  DishSponge      -0.802         0.801          0.615          0              0              0              53
   5  ButterKnife     2.840          0.764          4.359          0              225            0              52
   6  ButterKnife     -0.645         0.816          1.181          0              90             0              108
   7  WineBottle      -0.762         1.765          0.398          0              0              0              86
   8  WineBottle      2.166          0.765          3.475          0              225            0              52
   9  Pot             2.116          1.027          -1.84          0              270            0              55
  10  Spoon           -0.782         0.817          1.414          0              90             0              108
  11  Spoon           2.515          0.765          4.007          0              59.999         0              52
  12  Egg             2.599          0.808          4.495          0              0              0              52
  13  Egg             -0.360         1.071          1.263          0              0              0              54
  14  Cup             2.673          0.763          3.795          0              0              0              52
  15  Plate           2.331          0.764          4.325          0              329.999        0              52
  16  Knife           2.649          1.052          1.252          0              136.999        0              51
  17  Tomato          2.626          0.818          4.118          0              270            0              52
  18  Bowl            -0.858         0.332          -0.073         0              90             0              95
  19  SaltShaker      1.543          0.796          1.512          0              317.0          0              66
  20  Bread           2.621          1.094          -1.151         0              0              0              51
  21  Lettuce         2.875          1.085          -1.762         0              0              0              51
  22  Lettuce         2.533          0.822          3.381          0              329.999        0              52
  23  Pan             2.042          1.017          1.779          0              0              0              51
  24  Glassbottle     -0.714         0.817          1.570          0              90             0              108
  25  Knife           2.959          1.052          -0.236         0              0              0              51
  26  SoapBottle      1.409          1.025          -1.454         0              90             0              51
  27  Egg             -1.079         0.121          2.874          0              0              0              106
  28  Fork            2.959          1.027          -1.151         0              0              0              51
  29  Potato          -0.851         0.858          1.181          0              90             0              108
  30  Ladle           2.294          0.803          4.091          0              329.999        0              52
  31  Tomato          2.801          0.818          3.895          0              270            0              52
  32  Pot             1.761          1.027          -1.599         0              0              0              94
  33  WineBottle      1.230          1.027          -1.454         0              90             0              51
  34  Plate           -0.852         2.290          0.032          0              0              0              82
  35  Spatula         2.801          0.779          4.044          0              180            0              52
  36  PaperTowelRoll  1.925          0.868          4.044          0              270            0              52
  37  Lettuce         -0.968         1.500          -0.406         0              90             0              95
  38  Apple           -0.669         1.077          1.943          0              0              0              54
  39  SaltShaker      1.380          1.777          -1.989         0              0              0              91
  40  PepperShaker    2.647          1.777          -1.911         0              0              0              90
  41  ButterKnife     -0.544         1.027          2.311          0              0              0              54
  42  Bread           2.451          0.832          3.821          0              270            0              52
  43  Cup             2.106          1.859          -1.876         0              0              0              97
  44  DishSponge      -0.418         1.027          1.943          0              0              0              54
  45  Bowl            -1.013         1.440          -0.073         0              90             0              95
  46  Spoon           -0.920         1.028          1.821          0              0              0              54
  47  Mug             -1.028         0.781          -0.627         0              90             0              95
  48  Sink            -0.716         1.023          1.333          0              0              0
  49  StoveBurner     1.835          1.018          -1.840         0              90             0
  50  StoveBurner     2.177          1.018          -1.599         0              0              0
  51  CounterTop      2.812          0.992          0.675          0              0              0
  52  DiningTable     2.419          0.003          3.930          0              0              0
  53  Drawer          -0.643         0.828          0.616          0              0              0
  54  CounterTop      -0.813         1.062          2.188          0              0              0
  55  StoveBurner     2.115          1.018          -1.840         0              270            0
  56  Drawer          -0.643         0.831          1.953          0              0              0
  57  Drawer          -0.643         0.833          2.418          0              0              0
  58  Drawer          1.347          0.836          -1.539         0              0              0
  59  Drawer          2.693          0.833          -1.131         0              0              0
  60  Drawer          2.693          0.833          -0.699         0              0              0
  61  Drawer          2.693          0.833          -0.267         0              0              0
  62  Drawer          2.693          0.833          0.163          0              0              0
  63  Drawer          2.524          0.833          0.720          0              2.000          0
  64  Drawer          2.232          0.833          1.036          0              2.000          0
  65  Drawer          1.936          0.833          1.354          0              2.000          0
  66  Drawer          1.646          0.833          1.670          0              2.000          0
  67  Cabinet         1.504          2.475          -1.710         0              0              0
  68  Cabinet         -0.823         2.220          1.621          0              0              0
  69  Cabinet         -0.823         2.220          0.615          0              0              0
  70  Cabinet         1.136          0.388          -1.355         0              0              0
  71  Cabinet         -0.356         0.383          2.626          0              0              0
  72  Cabinet         2.745          2.220          -1.690         0              0              0
  73  Cabinet         1.882          0.383          1.017          0              0              0
  74  Cabinet         1.307          0.473          1.640          0              0              0
  75  Cabinet         1.892          0.383          1.006          0              0              0
  76  Cabinet         2.467          0.383          0.383          0              0              0
  77  Cabinet         2.466          0.383          -0.475         0              0              0
  78  Cabinet         2.466          0.473          0.371          0              0              0
  79  Cabinet         2.386          2.475          -1.710         0              0              0
  80  Cabinet         -0.356         0.383          1.712          0              0              0
  81  Cabinet         2.745          2.220          0.019          0              0              0
  82  Cabinet         -0.663         2.496          0.157          0              0              0
  83  Cabinet         -0.663         2.496          -0.868         0              0              0
  84  Cabinet         -0.356         0.383          0.269          0              0              0
  85  Cabinet         -0.823         2.220          1.603          0              0              0
  86  Cabinet         -0.662         2.234          0.586          0              0              0
  87  Cabinet         2.745          2.220          -0.843         0              0              0
  88  Cabinet         2.745          2.220          -0.827         0              0              0
  89  Cabinet         -0.823         2.220          2.608          0              0              0
  90  Cabinet         2.732          2.226          -1.709         0              0              0
  91  Cabinet         1.137          2.226          -1.709         0              0              0
  92  Cabinet         2.466          0.383          -0.491         0              0              0
  93  Cabinet         2.466          0.383          -1.339         0              0              0
  94  StoveBurner     1.761          1.018          -1.599         0              0              0
  95  Fridge          -0.908         0.0            -0.405         0              0              0
  96  HousePlant      2.517          1.016          1.822          0              0              0
  97  Microwave       1.939          1.745          -1.826         0              0              0
  98  StoveKnob       2.017          1.041          -1.514         0              180            180
  99  StoveKnob       1.934          1.041          -1.514         0              180            180
 100  StoveKnob       2.017          1.041          -1.589         0              180            180
 101  StoveKnob       1.934          1.041          -1.589         0              180            180
 102  Window          1.756          1.608          4.762          90             0              0
 103  HousePlant      2.171          1.004          2.091          0              0              0
 104  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 105  LightSwitch     -0.099         1.410          -2.066         0              0              0
 106  GarbageCan      -0.951         -0.029         2.826          0              0              0
 107  Toaster         -1.007         1.018          2.238          0              90             0
 108  SinkBasin       -0.714         0.805          1.348          0              90             0
 109  Chair           1.615          0.004          4.310          0              107.976        0
 110  Faucet          -1.120         1.013          1.334          0              90             0
 111  Chair           2.759          0.004          3.086          0              358.967        0
 112
 113  NorthWall
 114  EastWall
 115  SouthWall
 116  WestWall

Plan:
STEP 1: turn to the right, then turn left and head toward the table near the wall. | STEP 2: pick up the large spoon from behind the loaf of bread on the middle of the table. | STEP 3: turn left and head straight, then turn left until you reach the counter, then turn right and walk to the sink.  | STEP 4: place the large spoon in the sink and turn on the water.  | STEP 5: take the clean large spoon out of the sink | STEP 6: place the clean large spoon in the cabinet underneath the sink. | END