Task: Put a clean spoon on the kitchen table.

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          0.900          4.75           0              0              0
   1  ButterKnife     1.236          0.771          3.360          0              0              0              48
   2  ButterKnife     0.923          0.992          0.486          0              0              0              55
   3  Kettle          1.562          0.988          3.848          0              0              0              49
   4  Kettle          -0.344         0.145          0.429          0              0              0              63
   5  Fork            0.847          0.993          0.670          0              0              0              55
   6  Fork            0.871          0.772          0.507          0              0              0              47
   7  Egg             1.135          1.042          4.762          0              0              0              56
   8  Cup             0.273          1.093          0.278          0              0              0              71
   9  Cup             0.064          1.093          0.310          0              0              0              71
  10  Knife           -0.289         0.789          6.786          0              225            0              91
  11  Knife           -0.377         0.789          6.261          0              225            0              91
  12  Bowl            1.455          1.575          4.633          0              0              0              59
  13  PepperShaker    0.562          1.574          0.251          0              0              0              69
  14  PepperShaker    1.135          0.987          4.670          0              0              0              56
  15  SaltShaker      -0.245         0.755          6.830          0              135            0              91
  16  SaltShaker      0.148          0.755          6.609          0              225            0              91
  17  Lettuce         -0.422         0.848          6.653          0              135            0              91
  18  Apple           -0.003         0.834          6.291          0              270            0              91
  19  Apple           -0.003         0.834          6.541          0              270            0              91
  20  Bowl            0.193          0.143          0.506          0              0              0              64
  21  Bread           -0.028         0.829          6.786          0              225            0              91
  22  Egg             -0.346         0.810          6.323          0              0              0              91
  23  Knife           0.260          0.801          0.451          0              90             0              52
  24  Fork            -0.481         0.772          0.620          0              270            0              51
  25  Apple           0.167          0.834          6.151          0              135            0              91
  26  Kettle          1.543          1.578          1.349          0              0              0              65
  27  Plate           1.406          0.141          1.864          0              0              0              44
  28  SaltShaker      0.169          0.755          6.807          0              225            0              91
  29  Lettuce         1.449          0.932          2.050          0              0              0              78
  30  SoapBottle      1.135          0.992          0.895          0              0              0              55
  31  Spatula         -0.443         0.775          6.851          0              225            0              91
  32  PaperTowelRoll  1.671          1.096          3.044          0              0              0              55
  33  Pot             1.317          0.988          4.294          0              0              0              50
  34  Potato          0.771          1.027          0.120          0              0              0              55
  35  ButterKnife     -0.459         0.992          0.303          0              0              0              55
  36  PepperShaker    -0.159         0.755          6.941          0              0              0              91
  37  Pan             2.051          1.513          5.876          0              0              0              77
  38  Tomato          -0.346         0.809          6.478          0              0              0              91
  39  DishSponge      2.006          0.080          6.498          0              0              0              79
  40  Cup             0.745          0.139          0.497          0              0              0              61
  41  Spoon           0.620          0.993          0.395          0              0              0              55
  42  Mug             2.051          1.510          5.376          0              270            0              77
  43  Cabinet         1.307          2.455          4.360          0              0              0
  44  Cabinet         1.054          0.422          1.710          0              0              0
  45  Drawer          1.280          0.808          4.718          0              0              0
  46  Cabinet         1.307          2.455          3.607          0              0              0
  47  Drawer          0.736          0.802          0.521          0              0              0
  48  Drawer          1.276          0.802          3.291          0              0              0
  49  StoveBurner     1.562          0.982          3.848          0              0              0
  50  StoveBurner     1.317          0.982          4.294          0              0              0
  51  Drawer          -0.482         0.802          0.521          0              0              0
  52  Drawer          0.124          0.802          0.521          0              0              0
  53  StoveBurner     1.559          0.982          4.294          0              0              0
  54  StoveBurner     1.320          0.982          3.848          0              0              0
  55  CounterTop      1.391          1.028          0.897          0              0              0
  56  CounterTop      1.391          1.028          4.716          0              0              0
  57  Cabinet         1.054          0.422          4.548          0              0              0
  58  Cabinet         1.317          2.134          0.517          0              0              0
  59  Cabinet         1.317          2.134          4.889          0              0              0
  60  Cabinet         1.317          2.134          3.095          0              0              0
  61  Cabinet         0.443          0.422          0.743          0              0              0
  62  Cabinet         1.270          2.134          0.434          0              0              0
  63  Cabinet         -0.775         0.422          0.743          0              0              0
  64  Cabinet         -0.168         0.422          0.743          0              0              0
  65  Cabinet         1.317          2.134          1.534          0              0              0
  66  Cabinet         1.054          0.422          2.990          0              0              0
  67  Cabinet         1.054          0.422          2.944          0              0              0
  68  Cabinet         -0.263         2.134          0.434          0              0              0
  69  Cabinet         0.252          2.134          0.434          0              0              0
  70  Sink            1.391          1.006          2.326          0              0              0
  71  Microwave       0.108          0.981          0.262          0              0              0
  72  HousePlant      -0.165         0.826          6.444          0              0              0
  73  CoffeeMachine   1.551          0.982          0.953          0              270            0
  74  Toaster         1.473          0.981          4.715          0              270            0
  75  Window          -2.065         1.916          3.626          90             90             0
  76  Window          1.763          2.007          2.299          90             270            0
  77  Fridge          2.035          0.0            5.625          0              0              0
  78  SinkBasin       1.387          0.880          2.338          0              90             0
  79  GarbageCan      2.001          -0.044         6.503          0              0              0
  80  StoveKnob       1.140          0.934          3.987          45             270            0
  81  StoveKnob       1.140          0.934          4.309          45             270            0
  82  StoveKnob       1.140          0.934          4.140          45             270            0
  83  StoveKnob       1.140          0.934          3.824          45             270            0
  84  Vase            -0.226         0.834          6.993          0              0              0
  85  Vase            2.098          0.043          7.070          0              257.232        0
  86  Vase            -0.594         0.835          6.130          0              225            0
  87  LightSwitch     -2.0           1.549          6.045          0              90             0
  88  Safe            2.046          1.072          7.054          0              257.232        0
  89  Faucet          1.534          1.025          2.371          0              294.391        0
  90  Blinds          1.738          2.563          2.312          0              90             0
  91  DiningTable     -0.156         0.000          6.474          0              0              0
  92  Chair           0.291          0.002          6.142          0              310.162        0
  93  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Turn around and head toward the counter with the utensils and microwave on top. | STEP 2: Pick up the spoon from the counter. | STEP 3: Turn around and head toward the sink on the right. | STEP 4: Put the spoon into the sink next to the head of lettuce, rinse the spoon, and then take the spoon out of the sink. | STEP 5: Turn left and head toward the kitchen table with the plant on top. | STEP 6: Put the clean spoon on top of the kitchen table. | END