Task: Rinse a spoon and place it on the counter.

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          -0.75          0              180            0
   1  Ladle           -1.028         0.170          -1.501         0              90             0              67
   2  Ladle           1.738          0.957          -1.563         0              0              0              72
   3  DishSponge      0.522          0.930          0.762          0              0              0              89
   4  DishSponge      1.557          0.913          -1.095         0              0              0              72
   5  ButterKnife     0.921          0.913          -2.085         0              0              0              72
   6  ButterKnife     -0.113         0.913          -1.737         0              0              0              72
   7  WineBottle      -0.160         0.931          0.305          0              0              0              89
   8  WineBottle      -1.394         1.660          -1.542         0              90             0              55
   9  Pot             1.567          0.948          -0.757         0              0              0              54
  10  Spatula         -0.064         0.779          -1.936         0              270            0              84
  11  Spatula         0.180          0.945          1.220          0              180            0              89
  12  Fork            -0.356         0.765          -1.981         0              270            0              84
  13  Egg             -1.219         1.069          -1.638         0              90             0              78
  14  Egg             -1.380         0.913          -0.702         0              90             0              80
  15  Plate           -1.495         1.187          -0.495         0              90             0              80
  16  Knife           -0.668         0.936          -2.101         0              0              0              72
  17  Knife           0.457          0.936          -2.085         0              180            0              72
  18  SoapBottle      1.877          0.551          2.327          0              0              0              92
  19  SoapBottle      0.066          0.925          0.076          0              0              0              89
  20  Bowl            -0.210         0.761          -2.071         0              0              0              84
  21  Bowl            -1.277         1.656          -1.792         0              90             0              55
  22  SaltShaker      1.738          0.909          -1.212         0              0              0              72
  23  SaltShaker      1.670          0.549          2.534          0              0              0              92
  24  PepperShaker    0.066          0.926          0.991          0              0              0              89
  25  PepperShaker    0.180          0.926          0.762          0              0              0              89
  26  Mug             -1.495         1.178          -0.806         0              90             0              80
  27  Mug             -1.495         1.499          -0.392         0              90             0              80
  28  Apple           -1.252         1.086          -1.846         0              90             0              78
  29  Apple           -1.036         0.984          -2.151         0              0              0              72
  30  Apple           -1.572         1.575          -0.806         0              90             0              80
  31  Potato          -0.160         0.956          0.534          0              0              0              89
  32  Bowl            1.909          1.654          -1.608         0              270            0              62
  33  SoapBottle      -0.824         0.912          -2.134         0              0              0              72
  34  Fork            0.066          0.927          1.448          0              0              0              89
  35  Ladle           1.403          1.704          -2.162         0              0              0              59
  36  Bread           0.399          0.964          0.110          0              0              1.601          89
  37  Lettuce         0.522          1.011          1.448          0              0              0              89
  38  WineBottle      0.294          0.927          0.534          0              0              0              89
  39  Spatula         0.522          0.945          0.991          0              0              0              89
  40  Plate           1.690          0.123          -1.266         0              270            0              66
  41  SaltShaker      0.066          0.923          1.220          0              0              0              89
  42  Pot             1.557          0.911          -1.446         0              0              0              72
  43  Cup             1.919          0.913          -1.446         0              0              0              72
  44  PepperShaker    0.180          0.923          0.305          0              0              0              89
  45  Pan             1.824          0.945          -0.346         0              0              0              53
  46  ButterKnife     0.066          0.930          0.305          0              0              0              89
  47  Tomato          0.522          0.978          0.534          0              0              0              89
  48  DishSponge      -1.072         0.913          -2.260         0              0              0              72
  49  Egg             -1.533         1.558          -0.703         0              90             0              80
  50  Spoon           0.457          0.914          -1.751         0              0              0              72
  51  Knife           0.066          0.953          0.991          0              0              0              89
  52  Mug             1.261          0.951          -1.934         0              0              0              82
  53  StoveBurner     1.845          0.940          -0.355         0              0              0
  54  StoveBurner     1.567          0.940          -0.757         0              0              0
  55  Cabinet         -1.149         2.019          -1.979         0              90             0
  56  Cabinet         -1.149         2.265          -0.834         0              90             0
  57  Cabinet         -0.459         2.265          -2.0           0              0              0
  58  Cabinet         -1.100         2.019          -2.0           0              0              0
  59  Cabinet         1.719          2.019          -2.0           0              0              0
  60  Cabinet         1.179          2.019          -2.0           0              0              0
  61  Cabinet         0.199          2.019          -2.0           0              0              0
  62  Cabinet         1.75           2.019          -1.399         0              270            0
  63  Cabinet         1.75           2.019          -1.029         0              270            0
  64  Cabinet         1.379          0.469          -1.689         0              0              0
  65  Cabinet         -0.819         0.469          -1.689         0              0              0
  66  Cabinet         1.389          0.469          -1.059         0              270            0
  67  Cabinet         -0.839         0.469          -1.665         0              90             0
  68  StoveBurner     1.567          0.940          -0.355         0              0              0
  69  StoveBurner     1.845          0.940          -0.757         0              0              0
  70  Sink            -0.109         0.893          -2.009         0              0              0
  71  Drawer          -0.819         0.75           -1.690         0              0              0
  72  CounterTop      0.232          0.949          -2.002         0              0              0
  73  GarbageCan      1.855          -0.034         0.141          0              358.959        0
  74  Vase            0.251          0.546          0.475          0              270            0
  75  Toaster         0.780          0.900          -2.080         0              0              0
  76  LightSwitch     0.108          1.315          2.75           0              180            0
  77  Vase            0.400          0.925          0.218          0              180            0
  78  Microwave       -1.233         0.900          -1.680         0              90             0
  79  Vase            1.465          1.662          -2.200         0              0              0
  80  Fridge          -1.495         0.0            -0.703         0              0              0
  81  Window          2.114          1.495          1.072          90             270            0
  82  CoffeeMachine   1.374          0.899          -2.112         0              0              0
  83  Vase            0.333          0.546          1.272          0              270            0
  84  SinkBasin       -0.148         0.753          -2.026         0              0              0
  85  StoveKnob       2.037          1.089          -0.405         0              0              74.477
  86  StoveKnob       2.037          1.089          -0.251         0              0              74.477
  87  StoveKnob       2.037          1.089          -0.649         0              0              74.477
  88  StoveKnob       2.037          1.089          -0.814         0              0              74.477
  89  DiningTable     0.170          0.005          0.678          0              270            0
  90  Shelf           0.170          0.155          0.678          0              270            0
  91  Shelf           1.605          0.172          2.480          0              0              0
  92  Shelf           1.605          0.552          2.480          0              0              0
  93  Shelf           1.604          0.880          2.479          0              0              0
  94  ShelvingUnit    1.605          0.006          2.480          0              0              0
  95  Faucet          -0.143         1.028          -2.223         0              270            0
  96  Stool           -0.553         0.000          0.871          1.233          280.376        0
  97  Shelf           0.170          0.528          0.678          0              270            0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: Take a step to the right and face the counter. | STEP 2: Pick up the spoon from the front of the counter. | STEP 3: Carry the spoon and take a step to the right. | STEP 4: Place the spoon in the sink and turn on the water. Turn off the water and pick up the spoon. | STEP 5: Hold the spoon and turn around. Turn to the right to face the island. | STEP 6: Place the spoon in the center of the counter. | END