Task: Put a clean spoon 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           -2.0           0.900          2.5            0              180            0
   1  Potato          -1.773         0.065          1.33           0              270            0              84
   2  CellPhone       -0.213         0.923          0.970          0              0              0              78
   3  Ladle           0.661          0.955          -1.513         0              0              0              70
   4  Kettle          -1.841         1.663          -0.980         0              90             0              57
   5  Kettle          1.765          0.938          0.819          0              180            0              67
   6  DishSponge      1.612          0.224          1.284          0              0              0              79
   7  DishSponge      1.815          0.236          0.116          0              0              0              53
   8  Fork            0.000          0.926          -0.190         0              0              0              78
   9  Fork            0.214          0.926          0.041          0              0              0              78
  10  Spatula         1.712          0.156          1.350          0              270            0              79
  11  Spatula         1.603          0.136          0.745          0              180            0              62
  12  Egg             2.020          1.063          -0.861         0              270            0              91
  13  Knife           0.083          0.782          -1.435         0              0              0              94
  14  Knife           -0.638         0.933          -1.610         0              0              0              70
  15  SoapBottle      -0.361         0.118          -1.534         0              0              0              49
  16  SoapBottle      0.107          0.929          0.738          0              0              0              78
  17  Tomato          -0.844         0.966          -1.221         0              0              0              70
  18  Bowl            -0.320         0.924          0.738          0              0              0              78
  19  PepperShaker    0.000          0.921          1.202          0              0              0              78
  20  Bread           -1.750         1.549          0.013          0              90             0              93
  21  Bread           1.802          0.992          -1.610         0              0              0              70
  22  Lettuce         0.170          0.837          -1.380         0              0              0              94
  23  Mug             -1.645         1.464          0.295          0              90             0              93
  24  Apple           1.956          1.059          -0.651         0              270            0              91
  25  SoapBottle      0.194          0.116          -1.534         0              0              0              59
  26  Cup             2.039          1.657          -1.129         0              270            0              58
  27  Pot             0.214          0.929          1.202          0              0              0              78
  28  Fork            -0.106         0.926          1.202          0              0              0              78
  29  Ladle           1.764          0.624          0.667          0              0              0              74
  30  Kettle          1.195          0.110          -1.416         0              0              0              63
  31  Egg             -1.750         1.526          -0.175         0              90             0              93
  32  Plate           -1.727         0.910          -0.914         0              0              0              70
  33  Pan             1.975          0.938          0.384          0              180            0              56
  34  Lettuce         -0.106         1.002          0.273          0              0              0              78
  35  Spatula         1.824          0.777          1.292          0              0              0              76
  36  Apple           -0.213         0.978          0.506          0              0              0              78
  37  Knife           0.107          0.947          0.506          0              0              0              78
  38  SaltShaker      1.812          0.541          1.416          0              0              0              68
  39  PepperShaker    -0.906         0.667          -1.240         0              0              0              61
  40  CellPhone       1.769          0.761          1.220          0              270            0              76
  41  ButterKnife     0.000          0.925          0.041          0              0              0              78
  42  Bread           -0.213         1.006          -0.190         0              0              0              78
  43  Tomato          -0.088         0.815          -1.380         0              0              0              94
  44  Potato          -1.855         1.700          0.201          0              90             0              93
  45  DishSponge      -0.175         0.760          -1.490         0              0              0              94
  46  Spoon           0.000          0.926          0.041          0              0              0              78
  47  Mug             -1.663         0.558          -0.175         0              90             0              93
  48  Bowl            -1.151         0.111          -1.550         0              0              0              82
  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: Turn to the left, go to the wall, hang a right, go to the counter across the room. | STEP 2: Pick up the spoon that is on the counter. | STEP 3: Move to right to the sink. | STEP 4: Put the spoon in the sink, turn the water on to rinse it off, then pick it back up. | STEP 5: Go to the right to the wall, hang a right, go forward, turn around and face the cupboard. | STEP 6: Put the spoon in the rightmost cabinet. | END