Task: Put a cleaned spoon in the cabinet.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          0.25           0              0              0
   1  Potato          0.214          0.949          0.738          0              0              0              73
   2  Ladle           1.714          0.165          0.454          0              270            0              57
   3  Ladle           1.769          0.807          1.292          0              270            0              71
   4  Kettle          0.000          0.926          0.970          0              90             0              73
   5  DishSponge      -0.193         0.114          -1.409         0              0              0              44
   6  DishSponge      -0.106         0.925          0.273          0              0              0              73
   7  ButterKnife     -0.213         0.925          0.506          0              0              0              73
   8  ButterKnife     0.000          0.925          0.506          0              0              0              73
   9  Spoon           -0.106         0.926          0.041          0              0              0              73
  10  Spoon           0.170          0.761          -1.490         0              0              0              89
  11  Pot             0.000          0.929          1.202          0              0              0              73
  12  Plate           -1.750         1.675          0.201          0              90             0              88
  13  Plate           -0.106         0.924          0.738          0              0              0              73
  14  Knife           1.769          0.785          1.220          0              0              0              71
  15  Tomato          -1.462         0.966          -1.707         0              0              0              65
  16  Tomato          -0.175         0.815          -1.380         0              0              0              89
  17  PepperShaker    -1.336         0.109          -1.487         0              0              0              77
  18  Bread           0.321          1.006          0.273          0              0              0              73
  19  Bread           -1.697         1.549          -0.175         0              90             0              88
  20  SoapBottle      1.640          0.915          1.032          0              0              0              65
  21  Cup             1.892          1.004          -0.808         0              270            0              86
  22  Pot             1.975          0.938          0.384          0              180            0              51
  23  Fork            1.712          0.141          1.088          0              90             0              74
  24  Ladle           2.030          0.955          -1.221         0              0              0              65
  25  Kettle          1.975          0.938          0.819          0              180            0              75
  26  Egg             1.892          1.063          -0.547         0              270            0              86
  27  Plate           -1.151         0.112          -1.360         0              0              0              77
  28  Pan             -1.286         0.9            -1.348         0              79.769         0              65
  29  Lettuce         -1.710         0.883          -0.137         0              304.91         0              88
  30  Spatula         1.769          0.136          0.454          0              0              0              57
  31  Apple           -1.796         0.095          1.371          0              270            0              79
  32  Knife           -1.814         0.933          -1.063         0              0              0              65
  33  SaltShaker      2.030          0.907          -1.707         0              0              0              65
  34  PepperShaker    -1.463         0.907          -0.914         0              0              0              65
  35  CellPhone       1.661          0.235          -0.020         0              0              0              48
  36  ButterKnife     -1.668         0.911          -1.318         0              0              0              65
  37  Bread           0.214          1.006          0.506          0              0              0              73
  38  Tomato          0.661          0.966          -1.221         0              0              0              65
  39  Potato          2.020          1.030          -0.704         0              270            0              86
  40  DishSponge      1.760          0.694          0.478          0              0              0              69
  41  Spoon           1.661          0.460          0.667          0              0              0              69
  42  Mug             -1.771         1.024          -0.175         0              90             0              88
  43  Bowl            -1.237         1.678          -1.652         0              0              0              67
  44  Cabinet         -0.495         0.474          -1.149         0              0              0
  45  Window          -0.010         1.582          -1.821         0              0              0
  46  Drawer          0.805          0.475          -1.159         0              0              0
  47  StoveBurner     1.764          0.902          0.601          0              270            0
  48  Drawer          1.5            0.196          -0.019         0              0              0
  49  Drawer          1.5            0.629          -0.018         0              0              0
  50  Drawer          1.5            0.602          -0.019         0              270            0
  51  StoveBurner     1.975          0.902          0.384          0              270            0
  52  Cabinet         -1.703         2.022          -1.453         0              90             0
  53  Cabinet         1.789          2.019          -0.819         0              270            0
  54  Cabinet         0.494          0.474          -1.149         0              0              0
  55  Cabinet         0.409          0.475          0.444          0              0              0
  56  Drawer          -0.696         0.475          -1.159         0              0              0
  57  Drawer          1.5            0.140          0.599          0              270            0
  58  Cabinet         1.389          0.474          -1.149         0              0              0
  59  Drawer          1.5            0.305          0.600          0              0              0
  60  StoveBurner     1.975          0.902          0.601          0              270            0
  61  Drawer          1.5            0.429          -0.019         0              0              0
  62  StoveBurner     1.764          0.902          0.819          0              270            0
  63  Drawer          1.5            0.519          1.220          0              0              0
  64  Cabinet         1.705          2.019          -1.449         0              0              0
  65  CounterTop      0.002          0.947          -1.513         0              0              0
  66  Drawer          1.5            0.629          0.605          0              0              0
  67  Cabinet         -0.627         2.019          -1.449         0              0              0
  68  StoveBurner     1.764          0.902          0.384          0              270            0
  69  Drawer          1.5            0.538          0.600          0              0              0
  70  Sink            0.0            0.893          -1.434         0              0              0
  71  Drawer          1.5            0.782          1.220          0              270            0
  72  Window          2.217          1.565          -0.384         0              0              0
  73  CounterTop      -0.014         0.961          0.505          0              0              0
  74  Drawer          1.5            0.200          1.220          0              0              0
  75  StoveBurner     1.975          0.902          0.819          0              270            0
  76  Window          -3.240         1.616          2.693          0              270            0
  77  Cabinet         -1.389         0.474          -1.149         0              0              0
  78  LightSwitch     -0.153         1.291          3.700          0              180            0
  79  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  80  StoveKnob       1.602          0.917          0.570          0              270            180
  81  StoveKnob       1.602          0.917          0.625          0              270            180
  82  StoveKnob       1.602          0.917          0.739          0              270            180
  83  StoveKnob       1.602          0.917          0.680          0              270            180
  84  StoveKnob       1.602          0.917          0.462          0              270            180
  85  StoveKnob       1.602          0.917          0.517          0              270            180
  86  Microwave       1.932          0.899          -0.766         0              270            0
  87  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  88  Fridge          -1.764         0.0            0.014          0              90             0
  89  SinkBasin       -0.014         0.736          -1.435         0              0              0
  90  Toaster         1.977          0.900          -0.336         0              270            0
  91  Faucet          -0.020         1.137          -1.605         0              270            0
  92  Chair           -9.354         0.000          1.242          0              180            0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Turn around, move to the microwave on the counter on the left. | STEP 2: Pick up the spoon on the counter.  | STEP 3: Bring the spoon the the sink, right of the microwave.  | STEP 4: Wash the spoon in the sink.  | STEP 5: Bring the spoon to the right, to the corner of the counter. | STEP 6: Put the cleaned spoon in the lower right cabinet.  | END