Task: put a spoon in 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           0.0            0.900          -1.0           0              270            0
   1  Pan             -1.109         0.930          1.470          0              0              0              40
   2  ButterKnife     -0.960         0.937          0.687          0              0              0              63
   3  Fork            -1.126         0.938          0.765          0              0              0              63
   4  Fork            1.344          0.747          2.391          0              90             0              41
   5  Spoon           -0.827         0.747          2.449          0              180            0              39
   6  Spoon           -0.792         0.747          2.313          0              180            0              39
   7  Spatula         1.483          0.761          0.848          0              90             0              68
   8  Egg             -0.793         0.973          1.076          0              0              0              63
   9  Egg             1.390          0.105          2.977          0              0              0              76
  10  Cup             -1.161         1.499          2.553          0              180            0              60
  11  SoapBottle      -1.039         1.828          -0.081         0              0              0              51
  12  Bowl            -0.764         0.078          2.528          0              0              0              59
  13  PepperShaker    1.269          1.068          0.274          0              0              0              44
  14  PepperShaker    -0.861         0.743          2.585          0              180            0              39
  15  Mug             1.528          1.002          2.345          0              270            0              43
  16  Apple           1.523          0.119          2.945          0              0              0              76
  17  Lettuce         1.669          1.028          0.739          0              0              0              43
  18  SoapBottle      -0.715         0.083          0.915          0              0              0              50
  19  Bread           -0.923         0.990          2.265          0              302.470        0              38
  20  Fork            -1.043         0.938          0.998          0              0              0              63
  21  Tomato          -0.924         1.560          0.195          0              90             0              70
  22  Bowl            1.503          0.941          1.714          0              180            0              65
  23  Pot             -0.818         0.927          0.816          0              270            0              63
  24  Spatula         -1.209         0.952          0.843          0              90             0              63
  25  Knife           -0.792         0.768          1.050          0              270            0              61
  26  SaltShaker      1.310          0.743          1.120          0              0              0              68
  27  Apple           1.587          1.645          1.756          0              270            0              77
  28  PepperShaker    1.670          1.497          2.555          0              0              0              57
  29  ButterKnife     1.310          0.746          2.391          0              90             0              41
  30  Potato          -1.065         1.531          0.272          0              90             0              70
  31  Plate           -1.078         1.506          0.953          0              0              0              49
  32  DishSponge      1.380          1.746          -0.137         0              0              0              46
  33  Egg             1.390          0.105          2.912          0              0              0              76
  34  Cup             -1.211         0.936          2.310          0              0              0              38
  35  Pan             -1.109         0.930          1.865          0              0              0              62
  36  Spoon           1.362          0.945          1.798          0              180            0              65
  37  Mug             -1.018         1.314          -0.034         0              90             0              70
  38  CounterTop      -0.973         0.973          2.386          0              0              0
  39  Drawer          -0.783         0.774          2.381          0              180            0
  40  StoveBurner     -1.108         0.922          1.470          0              0              0
  41  Drawer          1.370          0.774          2.391          0              0              0
  42  Stool           -0.748         0.008          3.116          0              0              0
  43  CounterTop      1.504          0.973          2.309          0              0              0
  44  Cabinet         1.219          1.388          0.591          0              0              0
  45  Cabinet         1.500          2.113          1.164          0              0              0
  46  Cabinet         1.219          2.010          0.591          0              0              0
  47  Cabinet         1.219          0.388          2.105          0              0              0
  48  Cabinet         1.219          0.553          0.591          0              0              0
  49  Cabinet         -0.913         2.113          1.164          0              0              0
  50  Cabinet         -0.633         0.388          0.627          0              0              0
  51  Cabinet         -0.913         2.050          -0.329         0              0              0
  52  Cabinet         -0.913         2.113          0.583          0              0              0
  53  Cabinet         -0.913         2.113          2.082          0              0              0
  54  Cabinet         -0.913         2.113          1.207          0              0              0
  55  Cabinet         1.500          2.113          2.082          0              0              0
  56  Cabinet         1.500          2.113          1.207          0              0              0
  57  Cabinet         1.500          1.810          2.691          0              0              0
  58  Cabinet         1.500          1.810          2.101          0              0              0
  59  Cabinet         -0.633         0.388          2.105          0              0              0
  60  Cabinet         -0.911         1.810          2.700          0              180            0
  61  Drawer          -0.783         0.774          0.915          0              180            0
  62  StoveBurner     -1.108         0.922          1.865          0              0              0
  63  CounterTop      -0.972         0.973          0.921          0              0              0
  64  Cabinet         1.219          0.388          0.631          0              0              0
  65  Sink            1.544          0.869          1.639          0              180            0
  66  StoveBurner     -0.832         0.922          1.865          0              0              0
  67  StoveBurner     -0.831         0.922          1.470          0              0              0
  68  Drawer          1.370          0.774          0.916          0              0              0
  69  Cabinet         -0.911         1.810          2.111          0              180            0
  70  Fridge          -1.001         0.0            0.119          0              0              0
  71  StoveKnob       -0.648         0.926          1.923          0              270            0
  72  StoveKnob       -0.648         0.926          1.363          0              270            0
  73  StoveKnob       -0.648         0.926          1.513          0              270            0
  74  StoveKnob       -0.648         0.926          1.763          0              270            0
  75  Toaster         -1.002         0.926          2.561          0              90             0
  76  GarbageCan      1.451          -0.029         2.912          0              0              0
  77  Microwave       1.632          1.480          1.645          0              270            0
  78  Window          0.224          1.601          3.509          90             0              0
  79  CoffeeMachine   1.692          0.926          2.453          0              270            0
  80  SinkBasin       1.461          0.833          1.369          0              180            0
  81  LightSwitch     0.451          1.412          -1.674         0              0              0
  82  Faucet          1.707          0.925          1.363          0              270            0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: turn right, walk forward, turn right to face the sink | STEP 2: pick up the spoon that is next to the sink | STEP 3: take a step to the right, face the sink | STEP 4: put the spoon in the sink | END