Task: put the spoon and the plate into the door 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           -3.0           0.900          1.25           0              90             0
   1  Potato          -3.291         0.953          2.459          0              90             0              65
   2  Ladle           -1.553         0.970          0.359          0              0              0              70
   3  Ladle           -2.514         1.164          0.190          0              0              0              58
   4  DishSponge      -3.747         0.112          2.038          0              0              0              69
   5  ButterKnife     -0.662         1.048          3.266          0              0              0              48
   6  ButterKnife     -0.292         1.047          1.920          0              0              0              48
   7  Pot             -3.475         1.133          0.48           0              90             0              46
   8  Fork            -0.785         1.048          2.144          0              0              0              48
   9  Egg             -1.376         0.961          0.428          0              0              0              70
  10  Cup             -1.885         1.122          0.473          0              0              0              58
  11  Knife           -0.415         1.079          2.369          0              0              0              48
  12  Knife           -1.288         0.963          0.359          0              0              0              70
  13  SoapBottle      -0.908         1.047          2.144          0              0              0              48
  14  Tomato          -3.593         0.153          2.038          0              0              0              69
  15  Tomato          -0.715         1.165          0.115          0              0              0              60
  16  Bowl            -0.785         1.045          2.593          0              0              0              48
  17  Bowl            -3.572         0.909          3.061          0              90             0              65
  18  SaltShaker      -0.662         1.044          1.920          0              0              0              48
  19  PepperShaker    -2.545         0.484          0.545          0              0              0              49
  20  Bread           -0.785         1.134          3.042          0              0              0              48
  21  Fork            -0.538         1.048          2.593          0              0              0              48
  22  SoapBottle      -3.849         0.113          1.948          0              0              0              69
  23  Pot             -0.538         1.051          2.144          0              0              0              48
  24  Ladle           -3.814         1.164          0.473          0              90             0              55
  25  Potato          -1.199         0.962          0.567          0              0              0              70
  26  Plate           -3.373         1.285          2.991          0              90             0              65
  27  Bread           -0.785         1.134          3.266          0              0              0              48
  28  Lettuce         -3.339         0.969          3.081          0              228.265        312.447        65
  29  Spatula         -0.538         1.063          3.042          0              0              0              48
  30  Pan             -0.266         1.038          2.561          0              0              0              48
  31  Egg             -3.44          0.942          2.849          0              90             0              65
  32  Cup             -3.639         1.558          3.061          0              90             0              65
  33  SaltShaker      -1.885         1.121          0.662          0              0              0              58
  34  Knife           -0.715         1.157          0.387          0              0              0              60
  35  Bowl            -3.440         1.560          2.849          0              90             0              65
  36  PepperShaker    -3.778         1.121          0.284          0              0              0              55
  37  ButterKnife     -2.6           1.113          0.577          0              315            0              58
  38  Apple           -1.376         0.998          0.221          0              0              0              70
  39  Tomato          -3.572         1.327          3.061          0              90             0              65
  40  DishSponge      -0.908         1.046          2.817          0              0              0              48
  41  Spoon           -1.465         0.932          0.359          0              0              0              70
  42  Mug             -0.377         1.094          3.194          0              270            0              64
  43  StoveKnob       -3.322         1.053          0.709          45             0              0
  44  StoveBurner     -3.474         1.097          0.227          0              180            0
  45  Sink            -1.394         0.982          0.439          0              0              0
  46  StoveBurner     -3.474         1.097          0.479          0              180            0
  47  StoveKnob       -3.164         1.053          0.709          45             0              0
  48  DiningTable     -0.620         0.017          2.486          0              0              0
  49  Drawer          -2.043         0.608          0.594          0              0              0
  50  Drawer          -2.043         0.216          0.594          0              0              0
  51  Drawer          -2.498         0.216          0.594          0              0              0
  52  Cabinet         -1.001         0.393          0.734          0              0              0
  53  StoveBurner     -3.000         1.097          0.480          0              0              0
  54  StoveKnob       -3.492         1.053          0.709          45             0              0
  55  CounterTop      -3.856         1.160          0.379          0              0              0
  56  Drawer          -2.043         0.937          0.599          0              0              0
  57  Drawer          -2.509         0.937          0.599          0              0              0
  58  CounterTop      -2.280         1.160          0.379          0              0              0
  59  StoveKnob       -2.985         1.053          0.709          45             0              0
  60  CounterTop      -0.514         1.160          0.492          0              0              0
  61  Drawer          -2.498         0.608          0.594          0              0              0
  62  StoveBurner     -3.000         1.097          0.227          0              0              0
  63  Cabinet         -1.733         0.393          0.734          0              0              0
  64  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  65  Fridge          -3.519         0.0            2.717          0              90             0
  66  Window          -1.394         1.924          0.014          90             0              0
  67  Window          -3.266         1.924          0.014          90             0              0
  68  Toaster         -0.225         1.038          2.865          0              270            0
  69  GarbageCan      -3.696         0.002          2.008          0              0              0
  70  SinkBasin       -1.389         0.921          0.428          0              0              0
  71  Microwave       -0.366         1.113          0.430          0              0              0
  72  HousePlant      -2.155         1.101          0.169          0              332.897        0
  73  LightSwitch     -2.584         1.299          3.5            0              180            0
  74  Faucet          -1.393         1.373          0.168          0              270            0
  75  NorthWall
  76  SouthWall
  77  SouthWall

Plan:
STEP 1: walk straight towards the wall and then turn right at the sink | STEP 2: pick up the spoon next to the knife in the sink | STEP 3: turn around and walk straight towards the door and then turn right and walk to the table | STEP 4: put the spoon into the plate on the table | STEP 5: pick up the spoon and the plate together off the table | STEP 6: turn around and walk straight towards the fridge then turn left and walk towards the sink | STEP 7: open the door under the sink and put the plate and spoon into the door and close it | END