Task: Rinse off a spoon, placing it onto 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           -0.75          0.900          2.75           0              180            0
   1  Potato          -0.789         0.943          1.555          0              90             0              88
   2  Potato          -0.921         0.943          1.246          0              90             0              88
   3  DishSponge      -2.059         1.398          3.858          0              0              0              48
   4  DishSponge      -2.117         0.126          3.750          0              0              0              73
   5  ButterKnife     1.024          0.823          2.631          0              0              0              52
   6  Spatula         1.099          0.838          1.072          0              270            0              47
   7  Egg             1.024          0.859          0.850          0              0              0              47
   8  Cup             0.950          0.822          2.631          0              0              0              52
   9  Cup             -2.636         0.766          2.221          0              90             0              79
  10  SoapBottle      0.960          0.023          2.918          0              0              0              81
  11  SoapBottle      -0.921         0.900          1.555          0              90             0              88
  12  Tomato          -2.519         0.835          2.277          0              90             0              79
  13  Tomato          -0.524         0.969          1.555          0              90             0              88
  14  PepperShaker    -0.657         0.896          1.143          0              90             0              88
  15  Bread           -2.577         1.048          2.221          0              90             0              79
  16  Mug             -2.645         1.602          2.165          0              90             0              79
  17  Mug             -1.053         0.895          1.349          0              90             0              88
  18  Apple           -2.636         0.828          2.446          0              90             0              79
  19  Plate           0.743          0.129          2.198          0              0              0              62
  20  Fork            -0.657         0.901          0.937          0              180            0              88
  21  Bread           0.827          0.861          2.449          0              0              0              47
  22  Spatula         -1.185         0.915          1.452          0              0              0              88
  23  PaperTowelRoll  -1.317         1.004          1.040          0              90             0              88
  24  Potato          -0.743         0.929          1.405          0              300.000        0              88
  25  SoapBottle      -0.789         0.900          1.246          0              90             0              88
  26  Egg             -1.694         1.395          3.836          0              180            0              76
  27  Cup             -1.152         1.683          3.819          0              0              0              75
  28  Pot             0.642          0.850          1.375          0              0              0              64
  29  SaltShaker      -1.317         0.896          1.349          0              90             0              88
  30  Pan             -2.667         0.812          3.74           0              137.145        0              70
  31  PepperShaker    -2.851         0.819          3.554          0              0              0              70
  32  ButterKnife     -2.172         0.812          3.552          0              0              0              70
  33  Tomato          -1.185         0.969          1.555          0              90             0              88
  34  DishSponge      -2.087         0.698          3.699          0              0              0              59
  35  Lettuce         -2.577         1.266          2.221          0              90             0              79
  36  Spoon           0.737          0.692          0.980          0              0              0              58
  37  Apple           -1.486         1.420          3.967          0              180            0              76
  38  Knife           -2.497         0.846          3.799          0              180            0              70
  39  Mug             -1.317         0.895          1.143          0              90             0              88
  40  Bowl            -2.542         1.847          2.242          0              0              0              57
  41  Drawer          0.729          0.703          2.199          0              0              0
  42  Cabinet         -1.962         1.926          3.733          0              0              0
  43  Cabinet         -2.377         2.014          1.058          0              0              0
  44  Drawer          0.729          0.703          2.532          0              0              0
  45  Cabinet         -2.622         1.925          3.733          0              0              0
  46  StoveBurner     0.913          0.843          1.375          0              0              0
  47  CounterTop      0.864          0.858          0.984          0              0              0
  48  Cabinet         -1.976         1.779          3.734          0              0              0
  49  Cabinet         0.580          0.385          0.819          0              0              0
  50  Cabinet         -2.379         1.408          1.677          0              0              0
  51  Cabinet         -0.419         1.703          3.736          0              0              0
  52  CounterTop      0.864          0.858          2.371          0              0              0
  53  Sink            -1.702         0.726          3.828          0              180            0
  54  Cabinet         0.580          0.385          2.694          0              0              0
  55  Cabinet         -2.379         0.637          1.677          0              0              0
  56  Cabinet         -0.419         0.674          3.736          0              0              0
  57  Cabinet         -2.377         2.014          2.558          0              0              0
  58  Drawer          0.729          0.703          0.980          0              0              0
  59  Drawer          -2.114         0.706          3.657          0              0              0
  60  Cabinet         -2.377         1.691          2.572          0              0              0
  61  Cabinet         -2.951         1.925          3.733          0              0              0
  62  Cabinet         0.580          0.385          2.360          0              0              0
  63  Cabinet         -2.426         0.435          3.421          0              0              0
  64  StoveBurner     0.642          0.843          1.375          0              0              0
  65  Cabinet         -2.377         1.927          1.686          0              0              0
  66  Cabinet         -2.377         2.013          3.177          0              0              0
  67  Cabinet         -1.136         0.385          3.516          0              0              0
  68  StoveBurner     0.913          0.843          1.768          0              0              0
  69  Cabinet         -1.974         0.385          3.516          0              0              0
  70  CounterTop      -2.081         0.858          3.799          0              0              0
  71  Cabinet         -2.426         0.435          3.174          0              0              0
  72  Cabinet         -2.377         2.014          1.693          0              0              0
  73  Cabinet         -1.986         0.385          3.511          0              0              0
  74  StoveBurner     0.642          0.843          1.768          0              0              0
  75  Cabinet         -1.098         1.926          3.729          0              0              0
  76  Microwave       -1.529         1.250          3.881          1.622          180            0
  77  CoffeeMachine   1.000          0.812          2.492          0              270            0
  78  LightSwitch     0.825          1.396          4.082          0              180            0
  79  Fridge          -2.642         0.0            2.134          0              180            0
  80  Window          -1.131         1.673          0.808          90             0              0
  81  GarbageCan      0.931          -0.000         2.918          0              0              0
  82  SinkBasin       -1.601         0.686          3.774          0              0              0
  83  StoveKnob       1.104          1.002          1.886          0              0              70.346
  84  StoveKnob       1.104          1.002          1.733          0              0              70.346
  85  StoveKnob       1.104          1.002          1.321          0              0              70.346
  86  StoveKnob       1.104          1.002          1.481          0              0              70.346
  87  Toaster         -2.247         0.812          3.862          0              180            0
  88  DiningTable     -0.917         -0.000         1.203          0              0              0
  89  Stool           -0.932         0.000          1.404          1.196          21.715         0
  90  Faucet          -1.842         0.809          3.984          0              180            0
  91  Faucet          -1.371         0.809          3.985          0              180            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Go forward and to the left side of the table | STEP 2: Pick up the fork that's in the top left | STEP 3: Turn around and go to the sink in the left side of the room | STEP 4: Put the fork in the left sink, rinse it off, and pick it back up | STEP 5: Back up one step and look down to the knife on the edge of the counter | STEP 6: Put the fork down on the right side of the knife | END