Task: put a washed spoon on black shelves

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.869          -1.5           0              180            0
   1  ButterKnife     -1.719         0.701          -1.307         0              0              0              78
   2  ButterKnife     0.841          0.664          0.630          0              0              0              47
   3  Spatula         -1.620         0.715          -3.614         0              90             0              69
   4  Spatula         0.672          0.787          -0.845         0              180            0              65
   5  Spoon           0.950          0.884          -0.039         0              0              0              42
   6  Fork            1.024          0.884          -0.108         0              90             0              42
   7  Pot             -2.097         0.930          1.049          0              0              0              49
   8  Pot             -1.552         0.930          0.785          0              0              0              46
   9  Cup             -1.719         0.700          -0.875         0              0              0              78
  10  Tomato          0.841          0.820          -0.570         0              270            0              65
  11  SoapBottle      0.781          0.664          0.326          0              0              0              47
  12  SoapBottle      -1.297         0.051          -3.611         0              270            0              57
  13  SaltShaker      -0.252         0.896          0.758          0              270            0              68
  14  SaltShaker      -1.556         0.692          -3.361         0              0              0              69
  15  Bread           -0.252         0.944          1.101          0              270            0              68
  16  Lettuce         -0.051         0.987          0.929          0              270            0              68
  17  Lettuce         0.757          0.859          -0.735         0              270            0              65
  18  Mug             0.669          1.369          -1.725         0              270            0              62
  19  Mug             0.787          0.010          -0.184         0              0              0              52
  20  Pot             0.746          0.664          -2.035         0              180            0              62
  21  Plate           -2.023         0.692          -1.447         0              0              0              78
  22  Fork            0.877          0.884          -0.039         0              90             0              42
  23  SoapBottle      -1.635         0.701          -1.416         0              0              0              78
  24  Apple           -2.002         0.852          -3.738         0              0              0              64
  25  Pan             0.740          -0.007         -0.596         0              0              0              45
  26  Egg             0.863          0.701          -1.725         0              270            0              62
  27  Spatula         0.149          0.915          1.272          0              270            0              68
  28  Potato          0.582          0.916          -0.108         0              0              0              42
  29  Cup             0.901          0.664          0.387          0              0              0              47
  30  SaltShaker      0.949          1.460          0.226          0              0              0              54
  31  PepperShaker    0.812          1.460          -0.022         0              0              0              53
  32  ButterKnife     0.149          0.900          0.843          0              270            0              68
  33  DishSponge      0.817          0.759          -0.124         0              0              0              41
  34  Bread           -0.873         0.931          0.978          0              24.231         0              68
  35  Lettuce         0.721          0.751          0.508          0              0              0              47
  36  Tomato          -1.803         0.750          -1.416         0              0              0              78
  37  Spoon           -1.056         0.901          0.843          0              270            0              68
  38  Knife           1.070          0.906          -0.535         0              270            0              42
  39  Mug             -1.843         0.794          -3.673         0              0              0              64
  40  Bowl            0.746          1.157          -2.113         0              270            0              62
  41  Drawer          0.706          0.766          -0.125         0              0              0
  42  CounterTop      0.792          0.919          -0.108         0              0              0
  43  Mirror          1.093          1.602          -0.643         0              0              0
  44  StoveBurner     -2.096         0.890          0.785          0              0              0
  45  Cabinet         0.507          0.345          -0.426         0              0              0
  46  StoveBurner     -1.552         0.890          0.785          0              0              0
  47  SideTable       0.770          -0.030         0.443          0              0              0
  48  Sink            0.753          0.882          -0.680         0              0              0
  49  StoveBurner     -2.096         0.890          1.049          0              0              0
  50  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  51  StoveBurner     -1.554         0.890          1.049          0              0              0
  52  Cabinet         0.507          0.345          0.156          0              0              0
  53  Cabinet         0.717          1.822          -0.398         0              0              0
  54  Cabinet         0.717          1.822          0.669          0              0              0
  55  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  56  Toaster         -0.522         0.886          1.081          0              180            0
  57  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  58  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  59  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  60  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  61  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  62  Fridge          0.680          -0.031         -1.957         0              0              0
  63  Window          -2.424         1.639          -2.453         90             270            0
  64  Microwave       -1.994         0.690          -3.651         0              0              0
  65  SinkBasin       0.757          0.762          -0.688         0              270            0
  66  LightSwitch     1.102          1.368          -3.737         0              270            0
  67  Shelf           -0.350         0.124          0.857          0              0              0
  68  DiningTable     -0.350         -0.025         0.857          0              0              0
  69  DiningTable     -1.909         -0.032         -3.507         0              0              0
  70  Blinds          -2.343         2.151          -2.437         0              270            0
  71  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  72  AluminumFoil    0.751          0.225          0.287          0              0              0
  73  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  74  Shelf           0.771          0.226          0.445          0              0              0
  75  Shelf           0.771          0.456          0.446          0              0              0
  76  Faucet          1.025          0.873          -0.678         270            180            0
  77  Shelf           -0.350         0.497          0.857          0              0              0
  78  DiningTable     -1.929         -0.035         -1.398         0              90             0
  79  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: walk to face counter to left of sink | STEP 2: pick up spoon from counter top | STEP 3: walk right to face sink | STEP 4: wash spoon in sink, pick up spoon from sink | STEP 5: walk to face black shelves left of the sink | STEP 6: put spoon onto to of black shelves under the lettuce | END