Task: To rinse off a spoon and put it down on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          3.0            0              0              0
   1  Pan             1.573          0.138          3.291          0              90             0              75
   2  Pan             0.847          0.990          0.486          0              90             0              64
   3  Potato          0.123          0.794          6.107          0              135            0              100
   4  Potato          -0.621         0.794          6.541          0              270            0              100
   5  DishSponge      2.055          0.080          6.498          0              0              0              88
   6  DishSponge      0.923          0.992          0.120          0              0              0              64
   7  ButterKnife     -0.467         0.760          6.479          0              270            0              100
   8  Kettle          -0.096         0.761          6.941          0              0              0              100
   9  Pot             1.317          0.988          4.294          0              0              0              59
  10  Spoon           1.236          0.772          3.360          0              0              0              57
  11  Spoon           0.847          0.993          0.303          0              180            0              64
  12  Spoon           -0.096         0.761          6.632          0              0              0              100
  13  Spatula         0.192          0.786          0.618          0              270            0              61
  14  Fork            -0.397         0.760          6.063          0              315            0              100
  15  Egg             2.009          1.565          5.626          0              270            0              86
  16  Egg             2.137          1.565          5.501          0              270            0              86
  17  Cup             2.094          1.511          5.251          0              270            0              86
  18  Cup             -0.244         0.756          6.128          0              225            0              100
  19  Plate           1.406          0.141          2.498          0              0              0              76
  20  Plate           -0.074         1.580          0.251          0              0              0              77
  21  Knife           -0.413         0.802          0.507          0              0              0              60
  22  Knife           -0.346         0.789          6.632          0              90             0              100
  23  Bowl            0.102          0.759          6.305          0              135            0              100
  24  Bowl            2.009          1.514          6.001          0              270            0              86
  25  PepperShaker    1.400          0.136          4.724          0              0              0              66
  26  SaltShaker      -0.003         0.755          6.666          0              270            0              100
  27  Bread           -0.611         1.062          0.212          0              0              0              64
  28  Lettuce         -0.443         0.848          6.851          0              135            0              100
  29  Bowl            1.314          0.991          0.213          0              0              0              64
  30  Bread           1.099          1.048          0.434          0              0              0              64
  31  Egg             1.276          0.941          2.474          0              90             0              87
  32  Knife           -0.487         0.789          6.807          0              315            0              100
  33  Fork            0.150          0.760          6.666          0              180            0              100
  34  Apple           -0.312         0.834          6.354          0              270            0              100
  35  Kettle          1.593          0.981          3.25           0              255.000        0              64
  36  Plate           0.674          0.144          0.497          0              0              0              70
  37  SaltShaker      1.079          1.574          0.207          0              0              0              78
  38  Lettuce         1.449          0.932          2.050          0              0              0              87
  39  SoapBottle      1.587          1.576          4.572          0              0              0              68
  40  Spatula         1.348          0.786          3.429          0              270            0              57
  41  PaperTowelRoll  1.135          1.096          2.950          0              0              0              64
  42  Pot             1.32           0.988          3.848          0              0              0              63
  43  Potato          -0.733         1.015          0.606          0              303.695        0              64
  44  ButterKnife     1.332          0.896          2.525          0              270            0              87
  45  PepperShaker    -0.466         0.755          6.609          0              135            0              100
  46  Pan             1.313          0.985          4.284          0              0              0              59
  47  Tomato          -0.096         0.809          6.787          0              0              0              100
  48  DishSponge      0.192          0.759          6.565          0              225            0              100
  49  Cup             1.543          1.572          4.754          0              0              0              68
  50  Spoon           0.213          0.761          6.763          0              45             0              100
  51  Mug             1.442          0.886          2.474          0              90             0              87
  52  Cabinet         1.307          2.455          4.360          0              0              0
  53  Cabinet         1.054          0.422          1.710          0              0              0
  54  Drawer          1.280          0.808          4.718          0              0              0
  55  Cabinet         1.307          2.455          3.607          0              0              0
  56  Drawer          0.736          0.802          0.521          0              0              0
  57  Drawer          1.276          0.802          3.291          0              0              0
  58  StoveBurner     1.562          0.982          3.848          0              0              0
  59  StoveBurner     1.317          0.982          4.294          0              0              0
  60  Drawer          -0.482         0.802          0.521          0              0              0
  61  Drawer          0.124          0.802          0.521          0              0              0
  62  StoveBurner     1.559          0.982          4.294          0              0              0
  63  StoveBurner     1.320          0.982          3.848          0              0              0
  64  CounterTop      1.391          1.028          0.897          0              0              0
  65  CounterTop      1.391          1.028          4.716          0              0              0
  66  Cabinet         1.054          0.422          4.548          0              0              0
  67  Cabinet         1.317          2.134          0.517          0              0              0
  68  Cabinet         1.317          2.134          4.889          0              0              0
  69  Cabinet         1.317          2.134          3.095          0              0              0
  70  Cabinet         0.443          0.422          0.743          0              0              0
  71  Cabinet         1.270          2.134          0.434          0              0              0
  72  Cabinet         -0.775         0.422          0.743          0              0              0
  73  Cabinet         -0.168         0.422          0.743          0              0              0
  74  Cabinet         1.317          2.134          1.534          0              0              0
  75  Cabinet         1.054          0.422          2.990          0              0              0
  76  Cabinet         1.054          0.422          2.944          0              0              0
  77  Cabinet         -0.263         2.134          0.434          0              0              0
  78  Cabinet         0.252          2.134          0.434          0              0              0
  79  Sink            1.391          1.006          2.326          0              0              0
  80  Microwave       0.108          0.981          0.262          0              0              0
  81  HousePlant      -0.165         0.826          6.444          0              0              0
  82  CoffeeMachine   1.551          0.982          0.953          0              270            0
  83  Toaster         1.473          0.981          4.715          0              270            0
  84  Window          -2.065         1.916          3.626          90             90             0
  85  Window          1.763          2.007          2.299          90             270            0
  86  Fridge          2.035          0.0            5.625          0              0              0
  87  SinkBasin       1.387          0.880          2.338          0              90             0
  88  GarbageCan      2.001          -0.044         6.503          0              0              0
  89  StoveKnob       1.140          0.934          3.987          45             270            0
  90  StoveKnob       1.140          0.934          4.309          45             270            0
  91  StoveKnob       1.140          0.934          4.140          45             270            0
  92  StoveKnob       1.140          0.934          3.824          45             270            0
  93  Vase            -0.226         0.834          6.993          0              0              0
  94  Vase            2.098          0.043          7.070          0              257.232        0
  95  Vase            -0.594         0.835          6.130          0              225            0
  96  LightSwitch     -2.0           1.549          6.045          0              90             0
  97  Safe            2.046          1.072          7.054          0              257.232        0
  98  Faucet          1.534          1.025          2.371          0              294.391        0
  99  Blinds          1.738          2.563          2.312          0              90             0
 100  DiningTable     -0.156         0.000          6.474          0              0              0
 101  Chair           0.291          0.002          6.142          0              310.162        0
 102  GarbageBag      -1.092         0.318          0.268          270            90             83.492
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: Walk to the table, turn right and walk to the fridge, turn left, and turn left again to face the table. | STEP 2: Pick up the spoon to the right of the fork.  | STEP 3: Turn and walk to the sink on the left.  | STEP 4: Put the spoon down in the right side of the sink, rinse off the spoon, pick up the spoon.  | STEP 5: Turn left and walk back over to the table.  | STEP 6: Put the spoon down on the table in front of the sponge.  | END