Task: Wash a spoon and bring it to 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           0.25           0.869          0.0            0              270            0
   1  Potato          0.803          0.916          -0.314         0              0              0              39
   2  DishSponge      0.803          0.883          -0.176         0              0              0              39
   3  ButterKnife     -0.453         0.900          0.843          0              270            0              65
   4  Spoon           0.781          0.666          0.326          0              0              0              44
   5  Spoon           -2.054         0.702          -1.091         0              0              0              75
   6  Egg             0.841          0.702          0.630          0              0              0              44
   7  Egg             -2.002         0.836          -3.640         0              0              0              61
   8  Cup             -1.635         0.700          -1.199         0              0              0              75
   9  Tomato          0.785          0.713          -2.190         0              270            0              59
  10  SoapBottle      0.621          0.014          -0.250         0              0              0              49
  11  SoapBottle      -1.224         0.051          -3.611         0              270            0              54
  12  Bowl            0.903          1.462          0.411          0              0              0              51
  13  PepperShaker    0.812          1.460          -0.022         0              0              0              50
  14  SaltShaker      0.961          0.660          0.448          0              0              0              44
  15  SaltShaker      0.901          0.660          0.569          0              0              0              44
  16  Lettuce         -0.051         0.987          0.843          0              270            0              65
  17  Pot             -1.552         0.930          0.785          0              0              0              43
  18  Plate           -1.056         0.904          1.101          0              270            0              74
  19  Fork            -0.051         0.901          1.015          0              270            0              65
  20  SoapBottle      1.024          0.882          -0.108         0              0              0              39
  21  Apple           -1.556         0.750          -3.614         0              0              0              66
  22  Pan             -2.097         0.930          0.785          0              0              0              41
  23  Egg             1.040          0.920          -0.913         0              0              0              39
  24  Spatula         0.950          0.898          -0.176         0              0              0              39
  25  Potato          0.708          0.698          -1.802         0              270            0              59
  26  Cup             0.961          0.663          0.326          0              0              0              44
  27  SaltShaker      0.841          0.661          0.448          0              0              0              44
  28  PepperShaker    0.842          0.012          -0.833         0              0              0              42
  29  ButterKnife     0.601          0.665          0.387          0              90             0              44
  30  DishSponge      -0.252         0.900          1.187          0              270            0              65
  31  Bread           -0.051         0.944          1.101          0              270            0              65
  32  Lettuce         0.661          0.752          0.387          0              0              0              44
  33  Tomato          0.799          0.820          -0.680         0              270            0              62
  34  Spoon           0.720          0.761          0.002          0              0              0              38
  35  Knife           0.817          0.782          -0.252         0              90             0              38
  36  Mug             0.732          0.010          -0.833         0              0              0              42
  37  Bowl            0.903          1.462          -0.207         0              0              0              50
  38  Drawer          0.706          0.766          -0.125         0              0              0
  39  CounterTop      0.792          0.919          -0.108         0              0              0
  40  Mirror          1.093          1.602          -0.643         0              0              0
  41  StoveBurner     -2.096         0.890          0.785          0              0              0
  42  Cabinet         0.507          0.345          -0.426         0              0              0
  43  StoveBurner     -1.552         0.890          0.785          0              0              0
  44  SideTable       0.770          -0.030         0.443          0              0              0
  45  Sink            0.753          0.882          -0.680         0              0              0
  46  StoveBurner     -2.096         0.890          1.049          0              0              0
  47  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  48  StoveBurner     -1.554         0.890          1.049          0              0              0
  49  Cabinet         0.507          0.345          0.156          0              0              0
  50  Cabinet         0.717          1.822          -0.398         0              0              0
  51  Cabinet         0.717          1.822          0.669          0              0              0
  52  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  53  Toaster         -0.522         0.886          1.081          0              180            0
  54  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  55  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  56  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  57  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  58  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  59  Fridge          0.680          -0.031         -1.957         0              0              0
  60  Window          -2.424         1.639          -2.453         90             270            0
  61  Microwave       -1.994         0.690          -3.651         0              0              0
  62  SinkBasin       0.757          0.762          -0.688         0              270            0
  63  LightSwitch     1.102          1.368          -3.737         0              270            0
  64  Shelf           -0.350         0.124          0.857          0              0              0
  65  DiningTable     -0.350         -0.025         0.857          0              0              0
  66  DiningTable     -1.909         -0.032         -3.507         0              0              0
  67  Blinds          -2.343         2.151          -2.437         0              270            0
  68  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  69  AluminumFoil    0.751          0.225          0.287          0              0              0
  70  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  71  Shelf           0.771          0.226          0.445          0              0              0
  72  Shelf           0.771          0.456          0.446          0              0              0
  73  Faucet          1.025          0.873          -0.678         270            180            0
  74  Shelf           -0.350         0.497          0.857          0              0              0
  75  DiningTable     -1.929         -0.035         -1.398         0              90             0
  76  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Turn around, go to the the shelf unit | STEP 2: Pick up the spoon on the shelf | STEP 3: Turn right, go forward, turn left at the sink | STEP 4: Put the spoon into the sink, open the water, wait, pick up the spoon | STEP 5: Turn around, go forward a bit, turn right, go to the table | STEP 6: Put the spoon on the table | END