Task: Take the dirty dishes to 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           2.0            0.930          -0.5           0              90             0
   1  Potato          0.887          0.949          0.827          0              0              0              103
   2  Potato          0.929          1.286          -1.448         0              0              0              118
   3  DishSponge      0.856          1.674          -1.689         0              0              0              87
   4  DishSponge      0.376          0.705          -1.475         0              0              0              80
   5  ButterKnife     0.622          0.911          0.627          0              0              0              103
   6  Glassbottle     3.198          0.176          -0.453         0              0              0              83
   7  Glassbottle     3.028          0.177          0.911          0              0              0              81
   8  Kettle          -0.239         0.902          -1.089         0              315            0              101
   9  Kettle          3.044          0.901          -0.599         0              0              0              71
  10  Spatula         2.906          0.727          -0.361         0              270            0              68
  11  Spatula         -0.786         0.532          0.163          0              270            0              99
  12  Spoon           3.028          0.748          0.231          0              180            0              117
  13  Fork            -0.868         0.327          -0.273         0              0              0              77
  14  CellPhone       2.947          0.710          0.627          0              180            0              94
  15  Mug             3.277          0.895          -0.698         0              0              0              71
  16  Mug             3.049          0.966          0.591          0              270            0              115
  17  SaltShaker      0.376          0.509          -1.434         0              0              0              58
  18  PepperShaker    0.786          0.904          0.691          0              36.810         0              103
  19  PepperShaker    -0.909         0.702          -0.273         0              0              0              79
  20  Bowl            0.967          0.908          0.322          0              0              0              103
  21  Bowl            -0.085         0.897          -1.342         0              45             0              93
  22  Bowl            0.722          0.905          0.374          0              36.810         0              103
  23  SoapBottle      2.971          0.184          -0.786         0              0              0              84
  24  SoapBottle      2.907          1.473          -1.697         0              0              0              70
  25  Tomato          3.069          0.784          -0.100         0              90             0              117
  26  Tomato          0.101          0.937          -1.588         0              0              0              93
  27  Egg             -0.987         0.952          -0.746         0              45             0              72
  28  Egg             -1.119         1.050          1.470          0              90             0              120
  29  Cup             -0.985         0.995          1.417          0              90             0              120
  30  Plate           3.173          1.477          -1.235         0              0              0              86
  31  Plate           3.084          0.190          0.700          0              0              0              81
  32  Knife           0.002          0.925          -1.533         0              135            0              93
  33  Plate           -0.702         0.913          -0.726         0              45             0              72
  34  Glassbottle     3.044          1.465          -1.648         0              0              0              70
  35  SoapBottle      2.888          0.909          0.870          0              0              0              71
  36  Potato          1.086          0.751          -1.407         0              0              0              118
  37  Fork            -0.827         0.707          -0.011         0              0              0              79
  38  Ladle           -1.008         0.937          0.176          0              0              0              72
  39  Pot             0.423          0.900          0.869          0              0              0              103
  40  Kettle          -0.600         0.902          -1.090         0              135            0              61
  41  Spatula         3.029          0.727          -0.863         0              90             0              59
  42  Knife           -0.789         0.925          0.623          0              90             0              72
  43  Lettuce         3.044          0.966          -0.798         0              0              0              71
  44  Cup             1.008          1.071          -1.503         0              0              0              118
  45  SaltShaker      -0.028         0.129          -1.257         0              45             0              97
  46  Egg             -1.052         1.050          1.205          0              90             0              120
  47  PepperShaker    -0.827         0.127          1.255          0              0              0              96
  48  ButterKnife     0.179          0.900          -1.373         0              0              0              93
  49  Apple           1.229          0.981          0.464          0              0              0              103
  50  Pan             0.341          0.873          -1.649         0              167.065        0              93
  51  Bread           1.534          0.972          0.486          0              289.287        0              103
  52  CellPhone       -0.006         0.511          -1.328         0              45             0              75
  53  DishSponge      0.445          0.907          0.426          0              0              0              103
  54  Tomato          0.773          0.923          -1.475         0              0              0              118
  55  Spoon           0.022          0.901          -1.660         0              270            0              93
  56  Bowl            -1.080         0.897          0.846          0              0              0              72
  57  Mug             2.890          1.459          -1.186         0              90             0              86
  58  Drawer          0.376          0.572          -1.509         0              0              0
  59  Drawer          3.020          0.769          -0.783         0              180            0
  60  Drawer          -0.860         0.577          1.429          0              0              0
  61  StoveBurner     -0.600         0.897          -1.090         0              135            0
  62  Drawer          0.376          0.191          -1.509         0              0              0
  63  Cabinet         1.402          1.874          -1.259         0              0              0
  64  Cabinet         -0.202         1.963          -1.328         0              0              0
  65  Drawer          -0.860         0.765          1.429          0              0              0
  66  Drawer          -0.677         0.765          -0.700         0              0              0
  67  StoveBurner     -0.420         0.897          -0.920         0              135            0
  68  Drawer          3.020          0.769          -0.407         0              180            0
  69  Drawer          -0.860         0.577          0.663          0              0              0
  70  Cabinet         2.819          1.768          -1.850         0              0              0
  71  CounterTop      3.111          0.936          0.019          0              0              0
  72  CounterTop      -1.007         0.935          -0.039         0              0              0
  73  Drawer          -0.860         0.385          0.663          0              0              0
  74  StoveBurner     -0.419         0.897          -1.269         0              315            0
  75  Drawer          -0.047         0.573          -1.324         0              0              0
  76  Drawer          -0.860         0.765          0.663          0              0              0
  77  Drawer          -0.860         0.385          -0.100         0              0              0
  78  Drawer          0.376          0.380          -1.509         0              0              0
  79  Drawer          -0.860         0.765          -0.100         0              0              0
  80  Drawer          0.376          0.765          -1.509         0              0              0
  81  Cabinet         2.849          0.419          0.409          0              0              0
  82  Drawer          -0.047         0.765          -1.324         0              0              0
  83  Cabinet         2.849          0.419          -0.610         0              0              0
  84  Cabinet         2.849          0.419          -0.959         0              0              0
  85  Cabinet         3.069          1.666          -0.709         0              0              0
  86  Cabinet         2.819          1.768          -1.047         0              0              0
  87  Cabinet         0.620          1.874          -1.259         0              0              0
  88  Cabinet         0.140          1.666          -1.559         0              0              0
  89  Cabinet         -0.189         1.666          -1.340         0              0              0
  90  Cabinet         -0.709         1.963          -0.819         0              0              0
  91  Cabinet         -0.920         1.665          -0.620         0              0              0
  92  Drawer          -0.860         0.190          -0.100         0              0              0
  93  CounterTop      0.133          0.935          -1.457         0              0              0
  94  Drawer          3.020          0.769          0.695          0              180            0
  95  Drawer          -0.677         0.577          -0.700         0              0              0
  96  Drawer          -0.860         0.190          1.429          0              0              0
  97  Drawer          -0.047         0.192          -1.324         0              0              0
  98  Drawer          -0.677         0.193          -0.700         0              0              0
  99  Drawer          -0.860         0.577          -0.100         0              0              0
 100  Sink            3.078          0.887          0.086          0              0              0
 101  StoveBurner     -0.239         0.897          -1.089         0              315            0
 102  Drawer          -0.860         0.190          0.663          0              0              0
 103  CounterTop      1.210          0.937          0.463          0              0              0
 104  Drawer          -0.047         0.381          -1.324         0              0              0
 105  Drawer          -0.677         0.387          -0.700         0              0              0
 106  Mirror          -1.295         1.630          0.045          0              0              0
 107  Drawer          -0.860         0.385          1.429          0              0              0
 108  HousePlant      3.196          0.891          -0.368         0              0              0
 109  StoveKnob       -0.090         0.790          -1.009         270            45             0
 110  StoveKnob       -0.280         0.790          -0.819         270            45             0
 111  StoveKnob       -0.180         0.790          -0.920         270            45             0
 112  StoveKnob       -0.370         0.790          -0.720         270            45             0
 113  GarbageCan      3.137          0.025          1.545          0              225            0
 114  Window          3.703          1.675          0.046          90             90             0
 115  CoffeeMachine   3.214          0.890          0.697          0              270            0
 116  LightSwitch     2.592          1.309          -1.880         0              0              0
 117  SinkBasin       3.069          0.736          0.108          0              90             0
 118  Fridge          1.008          0.029          -1.467         0              0              0
 119  Toaster         -1.035         0.873          -0.396         0              90             0
 120  Microwave       -1.034         0.874          1.428          0              90             0
 121  Faucet          3.305          0.886          0.094          270            180            0
 122  NorthWall
 123  EastWall
 124  SouthWall
 125  WestWall

Plan:
STEP 1: Turn around in the kitchen | STEP 2: Walk over to the counter | STEP 3: Pick the spoon up that is on the counter | STEP 4: Carry the spoon to the counter that has the bowel on it | STEP 5: Place the spoon in the bowel | STEP 6: Pick the bowel up from the counter  | STEP 7: Place both in the kitchen sink | END