Task: Place a washed big spoon with a blue handle in a cabinet underneath a sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          -1.25          0              180            0
   1  Pan             1.690          0.120          -1.397         0              180            0              62
   2  Potato          0.522          0.959          0.762          0              0              0              85
   3  Ladle           -0.346         0.957          -1.725         0              0              0              68
   4  Ladle           -0.047         0.975          0.762          0              0              0              85
   5  Ladle           -0.772         0.957          -2.200         0              0              0              68
   6  WineBottle      -0.160         0.931          1.448          0              0              0              85
   7  WineBottle      -1.316         1.660          -1.792         0              90             0              51
   8  Spatula         1.557          0.928          -1.797         0              180            0              68
   9  Spatula         1.919          0.928          -1.797         0              0              0              68
  10  Fork            0.294          0.931          0.762          0              90             0              85
  11  Egg             0.119          0.967          -1.725         0              0              0              68
  12  Plate           1.462          0.556          2.431          0              0              0              88
  13  Tomato          1.958          0.138          0.006          0              0              0              69
  14  SoapBottle      1.670          0.551          2.327          0              0              0              94
  15  SoapBottle      1.464          0.879          2.483          0              0              0              89
  16  Bowl            0.522          0.927          0.534          0              0              0              85
  17  Bowl            1.919          0.910          -1.212         0              0              0              68
  18  SaltShaker      -0.047         0.923          1.220          0              0              0              85
  19  SaltShaker      0.180          0.926          1.220          0              0              0              85
  20  PepperShaker    -0.160         0.926          0.762          0              0              0              85
  21  PepperShaker    0.408          0.923          0.076          0              0              0              85
  22  Bread           0.180          0.972          0.534          0              0              0              85
  23  Mug             1.261          0.951          -1.934         0              0              0              78
  24  Apple           -1.323         1.254          -0.392         0              90             0              76
  25  Apple           1.153          0.984          -1.751         0              0              0              68
  26  Apple           -1.572         1.575          -0.392         0              90             0              76
  27  Potato          -1.438         0.888          -0.910         0              90             0              76
  28  Bowl            0.180          0.923          0.991          0              0              0              85
  29  SoapBottle      1.566          0.879          2.510          0              0              0              95
  30  Fork            0.408          0.931          0.534          0              0              0              85
  31  Ladle           0.481          0.947          1.420          0              0              346.772        85
  32  Bread           -1.495         1.228          -0.806         0              90             0              76
  33  Lettuce         0.522          1.011          1.220          0              0              0              85
  34  WineBottle      -1.355         1.660          -1.917         0              90             0              51
  35  Spatula         0.457          0.928          -1.918         0              180            0              68
  36  Plate           1.909          1.661          -1.673         0              270            0              58
  37  SaltShaker      -0.230         0.909          -1.725         0              0              0              68
  38  Pot             1.567          0.948          -0.757         0              0              0              50
  39  Cup             -0.737         0.112          -1.917         0              0              0              61
  40  PepperShaker    1.670          0.549          2.638          0              0              0              94
  41  Pan             1.824          0.945          -0.346         0              0              0              49
  42  ButterKnife     1.647          0.913          -1.212         0              0              0              68
  43  Tomato          0.066          0.978          0.305          0              0              0              85
  44  DishSponge      1.255          0.552          2.534          0              0              0              94
  45  Egg             0.180          0.980          1.448          0              0              0              85
  46  Spoon           -0.346         0.914          -1.737         0              0              0              68
  47  Knife           0.066          0.950          0.762          0              0              0              85
  48  Mug             -1.186         1.010          -1.794         0              0              0              74
  49  StoveBurner     1.845          0.940          -0.355         0              0              0
  50  StoveBurner     1.567          0.940          -0.757         0              0              0
  51  Cabinet         -1.149         2.019          -1.979         0              90             0
  52  Cabinet         -1.149         2.265          -0.834         0              90             0
  53  Cabinet         -0.459         2.265          -2.0           0              0              0
  54  Cabinet         -1.100         2.019          -2.0           0              0              0
  55  Cabinet         1.719          2.019          -2.0           0              0              0
  56  Cabinet         1.179          2.019          -2.0           0              0              0
  57  Cabinet         0.199          2.019          -2.0           0              0              0
  58  Cabinet         1.75           2.019          -1.399         0              270            0
  59  Cabinet         1.75           2.019          -1.029         0              270            0
  60  Cabinet         1.379          0.469          -1.689         0              0              0
  61  Cabinet         -0.819         0.469          -1.689         0              0              0
  62  Cabinet         1.389          0.469          -1.059         0              270            0
  63  Cabinet         -0.839         0.469          -1.665         0              90             0
  64  StoveBurner     1.567          0.940          -0.355         0              0              0
  65  StoveBurner     1.845          0.940          -0.757         0              0              0
  66  Sink            -0.109         0.893          -2.009         0              0              0
  67  Drawer          -0.819         0.75           -1.690         0              0              0
  68  CounterTop      0.232          0.949          -2.002         0              0              0
  69  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  70  Vase            0.251          0.546          0.475          0              270            0
  71  Toaster         0.780          0.900          -2.080         0              0              0
  72  LightSwitch     0.108          1.315          2.75           0              180            0
  73  Vase            0.400          0.925          0.218          0              180            0
  74  Microwave       -1.233         0.900          -1.680         0              90             0
  75  Vase            1.465          1.662          -2.200         0              0              0
  76  Fridge          -1.495         0.0            -0.703         0              0              0
  77  Window          2.114          1.495          1.072          90             270            0
  78  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  79  Vase            0.333          0.546          1.272          0              270            0
  80  SinkBasin       -0.148         0.753          -2.026         0              0              0
  81  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  82  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  83  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  84  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  85  DiningTable     0.170          0.005          0.678          0              270            0
  86  Shelf           0.170          0.155          0.678          0              270            0
  87  Shelf           1.605          0.172          2.480          0              0              0
  88  Shelf           1.605          0.552          2.480          0              0              0
  89  Shelf           1.604          0.880          2.479          0              0              0
  90  ShelvingUnit    1.605          0.006          2.480          0              0              0
  91  Faucet          -0.143         1.028          -2.223         0              270            0
  92  Stool           -0.553         0.000          0.871          1.233          280.376        0
  93  Shelf           0.170          0.528          0.678          0              270            0
  94
  95
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: turn to the right and go forward to the front of the sink and turn to the left | STEP 2: pick up the big spoon with the blue handle on the counter top in front of the sink | STEP 3: put the big spoon in the sink  | STEP 4: turn on the water to fill up the sink and turn off the water and drain the sink and pick up the big spoon | STEP 5: turn to the left twice and take a few steps and turn to the right twice | STEP 6: open the right cabinet door underneath the sink and put the big spoon in it and close the cabinet door | END