Task: To wash a spoon and place it on the counter to the right of 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           0.0            0.900          3.0            0              0              0
   1  Pan             0.726          1.655          -1.839         0              0              0              77
   2  Pan             -0.401         0.910          -1.874         0              0              0              77
   3  Pen             1.341          0.217          1.08           0              0              0              94
   4  Pen             -2.445         0.913          0.463          0              180            0              79
   5  Kettle          -1.431         0.949          -1.81          0              0              0              87
   6  ButterKnife     -1.835         0.910          0.291          0              0              0              79
   7  DishSponge      0.569          0.910          -1.960         0              0              0              77
   8  Glassbottle     -0.133         0.115          -1.631         0              90             0              74
   9  Glassbottle     -1.732         0.911          -1.965         0              0              0              75
  10  Spoon           -0.456         0.775          -1.532         0              90             0              76
  11  Pot             1.426          1.369          2.351          0              270            0              96
  12  Egg             -2.116         0.939          -1.620         0              0              0              75
  13  Egg             1.538          1.294          -0.021         0              270            0              99
  14  Knife           -1.957         0.940          0.291          0              0              0              79
  15  SoapBottle      1.414          1.162          -0.315         0              180            0              83
  16  SoapBottle      1.414          1.162          -1.345         0              0              0              83
  17  Tomato          1.388          1.760          1.713          0              270            0              96
  18  Tomato          0.149          0.959          -1.708         0              270            0              56
  19  Bowl            1.092          0.118          0.372          0              0              0              60
  20  PepperShaker    -1.860         0.111          -1.440         0              0              0              84
  21  SaltShaker      1.265          0.112          0.430          0              0              0              60
  22  Bread           1.376          1.445          2.101          0              270            0              96
  23  Bread           1.414          1.240          -1.688         0              0              0              83
  24  Mug             1.093          0.110          -1.186         0              0              0              62
  25  Mug             -0.011         0.109          -1.631         0              180            0              74
  26  Apple           1.441          1.300          -0.021         0              270            0              99
  27  Apple           -2.323         0.945          0.463          0              0              0              79
  28  Tomato          -1.835         0.950          0.549          0              0              0              79
  29  Glassbottle     1.459          0.215          1.108          0              0              0              94
  30  Knife           0.758          0.941          -1.534         0              0              0              77
  31  Plate           1.343          0.911          -1.331         0              0              0              77
  32  Fork            -1.886         0.911          -1.707         0              0              0              75
  33  Ladle           -1.957         0.954          0.032          0              0              0              79
  34  Potato          -1.835         0.952          0.377          0              0              0              79
  35  Lettuce         1.454          1.231          -1.002         0              0              0              83
  36  Kettle          1.520          1.657          -0.658         0              0              0              65
  37  Pen             1.069          0.774          -0.665         0              90             0              68
  38  SaltShaker      -1.567         1.853          -1.910         0              0              0              70
  39  Cup             1.342          1.656          -0.658         0              0              0              65
  40  Egg             1.224          1.396          1.726          0              270            0              96
  41  Spatula         -0.778         0.926          -1.619         0              90             0              77
  42  Bowl            1.375          1.368          1.851          0              270            0              96
  43  SprayBottle     1.052          1.654          -1.876         0              0              0              66
  44  Pan             -1.081         0.949          -1.81          0              0              0              73
  45  SoapBottle      -1.809         0.910          -1.707         0              0              0              75
  46  Pot             -1.431         0.949          -1.525         0              0              0              85
  47  ButterKnife     -0.682         0.9            -1.71          0              14.999         0              77
  48  PepperShaker    -2.041         0.106          -1.632         0              0              0              80
  49  DishSponge      -2.079         0.910          0.463          0              0              0              79
  50  Bread           -2.323         0.988          0.118          0              0              0              79
  51  Apple           -0.086         0.817          -1.707         0              270            0              98
  52  Spoon           0.320          0.920          -1.708         0              270            0              56
  53  Mug             1.070          0.957          -1.641         0              0              0              93
  54  Drawer          0.860          0.75           0.430          0              0              0
  55  Drawer          0.871          0.75           -1.134         0              0              0
  56  Sink            0.156          0.817          -1.801         0              270            0
  57  Cabinet         -0.868         2.005          -1.690         0              0              0
  58  Cabinet         -1.661         2.059          -1.684         0              90             0
  59  Cabinet         -0.817         2.059          -1.689         0              0              0
  60  Cabinet         0.860          0.402          0.665          0              0              0
  61  Cabinet         0.860          0.402          -0.552         0              0              0
  62  Cabinet         0.860          0.402          -1.365         0              0              0
  63  Cabinet         -0.244         0.402          -1.389         0              0              0
  64  Cabinet         -0.815         0.402          -1.389         0              0              0
  65  Cabinet         1.159          2.059          -0.334         0              0              0
  66  Cabinet         0.488          2.059          -1.689         0              0              0
  67  Cabinet         -0.193         2.059          -1.689         0              0              0
  68  Drawer          0.860          0.75           -0.699         0              0              0
  69  Cabinet         1.159          2.059          -1.019         0              0              0
  70  Cabinet         -1.611         2.005          -1.690         0              0              0
  71  Cabinet         0.832          0.401          -1.393         0              90             0
  72  Drawer          -2.105         0.75           -1.389         0              0              0
  73  StoveBurner     -1.081         0.941          -1.809         0              0              0
  74  Cabinet         -0.202         0.401          -1.391         0              90             0
  75  CounterTop      -1.973         0.945          -1.707         0              0              0
  76  Drawer          -0.375         0.75           -1.389         0              0              0
  77  CounterTop      1.164          0.946          -0.649         0              0              0
  78  StoveBurner     -1.081         0.941          -1.527         0              0              0
  79  CounterTop      -2.096         0.945          0.291          0              0              0
  80  Cabinet         -2.237         0.402          -1.389         0              0              0
  81  Drawer          0.584          0.75           -1.389         0              0              0
  82  Drawer          -1.795         0.75           -1.389         0              0              0
  83  CounterTop      1.5            1.197          -0.654         0              0              0
  84  Cabinet         -1.667         0.402          -1.389         0              0              0
  85  StoveBurner     -1.430         0.941          -1.525         0              0              0
  86  Drawer          -0.685         0.75           -1.389         0              0              0
  87  StoveBurner     -1.430         0.941          -1.809         0              0              0
  88  LightSwitch     -2.539         1.289          2.568          0              90             0
  89  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  90  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  91  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  92  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  93  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  94  GarbageCan      1.343          0.015          1.041          0              0              0
  95  HousePlant      1.440          1.153          0.593          0              0              0
  96  Fridge          1.417          0.0            2.101          0              0              0
  97  Window          -0.486         1.452          3.302          90             0              0
  98  SinkBasin       -0.063         0.765          -1.713         0              270            0
  99  Microwave       1.422          1.150          0.022          0              270            0
 100  Toaster         -2.066         0.900          -1.848         0              0              0
 101  Stool           -1.994         0.010          0.882          0              0              0
 102  Faucet          -0.096         1.041          -1.867         0              270            0
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: Turn around and walk across the room to face the sink. | STEP 2: Pick up the spoon on the left side of the sink. | STEP 3: Take a step to the right to face the right side of the sink. | STEP 4: Wash the spoon in the sink and then remove it. | STEP 5: Turn left and step forward to face the counter. | STEP 6: Place the spoon on the counter. | END