Task: Rinse a spoon and place it on the table, under lettuce.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.869          -3.25          0              270            0
   1  Potato          0.961          0.698          0.569          0              0              0              41
   2  DishSponge      -2.054         0.701          -0.983         0              0              0              72
   3  DishSponge      -2.137         0.701          -1.307         0              0              0              72
   4  ButterKnife     -1.056         0.900          1.101          0              270            0              62
   5  Spoon           0.721          0.665          0.630          0              0              0              41
   6  Egg             0.883          0.809          -0.570         0              270            0              59
   7  Egg             -1.599         0.733          -3.445         0              0              0              63
   8  Plate           -1.719         0.705          -1.307         0              0              0              72
   9  SoapBottle      -2.137         0.701          -1.199         0              0              0              72
  10  Bowl            0.799          0.770          -0.735         0              270            0              59
  11  Lettuce         0.149          0.987          0.843          0              270            0              62
  12  Apple           -2.002         0.852          -3.705         0              0              0              58
  13  Apple           -1.224         0.105          -3.537         0              270            0              51
  14  Pot             -2.097         0.930          1.049          0              0              0              43
  15  Plate           -0.051         0.904          1.101          0              270            0              62
  16  Fork            0.720          0.760          0.002          0              270            0              35
  17  SoapBottle      -1.578         0.699          -3.614         0              0              0              63
  18  Apple           0.721          0.718          0.265          0              0              0              41
  19  Pan             0.746          0.464          -2.113         0              180            0              56
  20  Egg             0.901          0.702          0.508          0              0              0              41
  21  Spatula         0.803          0.898          -0.314         0              180            0              36
  22  Potato          0.781          0.697          0.387          0              0              0              41
  23  Cup             0.824          0.663          -2.190         0              270            0              56
  24  SaltShaker      0.582          0.879          -0.108         0              0              0              36
  25  PepperShaker    0.149          0.896          1.272          0              270            0              62
  26  ButterKnife     -1.970         0.701          -1.524         0              0              0              72
  27  DishSponge      0.601          0.664          0.508          0              0              0              41
  28  Bread           -0.873         0.931          0.978          0              24.231         0              62
  29  Lettuce         0.785          0.751          -2.035         0              270            0              56
  30  Tomato          -1.260         0.100          -3.647         0              270            0              51
  31  Spoon           -1.803         0.702          -0.983         0              180            0              72
  32  Knife           0.866          0.782          -0.252         0              90             0              35
  33  Mug             0.698          0.941          -1.360         0              270            0              49
  34  Bowl            0.949          1.462          0.349          0              0              0              48
  35  Drawer          0.706          0.766          -0.125         0              0              0
  36  CounterTop      0.792          0.919          -0.108         0              0              0
  37  Mirror          1.093          1.602          -0.643         0              0              0
  38  StoveBurner     -2.096         0.890          0.785          0              0              0
  39  Cabinet         0.507          0.345          -0.426         0              0              0
  40  StoveBurner     -1.552         0.890          0.785          0              0              0
  41  SideTable       0.770          -0.030         0.443          0              0              0
  42  Sink            0.753          0.882          -0.680         0              0              0
  43  StoveBurner     -2.096         0.890          1.049          0              0              0
  44  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  45  StoveBurner     -1.554         0.890          1.049          0              0              0
  46  Cabinet         0.507          0.345          0.156          0              0              0
  47  Cabinet         0.717          1.822          -0.398         0              0              0
  48  Cabinet         0.717          1.822          0.669          0              0              0
  49  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  50  Toaster         -0.522         0.886          1.081          0              180            0
  51  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  52  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  53  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  54  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  55  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  56  Fridge          0.680          -0.031         -1.957         0              0              0
  57  Window          -2.424         1.639          -2.453         90             270            0
  58  Microwave       -1.994         0.690          -3.651         0              0              0
  59  SinkBasin       0.757          0.762          -0.688         0              270            0
  60  LightSwitch     1.102          1.368          -3.737         0              270            0
  61  Shelf           -0.350         0.124          0.857          0              0              0
  62  DiningTable     -0.350         -0.025         0.857          0              0              0
  63  DiningTable     -1.909         -0.032         -3.507         0              0              0
  64  Blinds          -2.343         2.151          -2.437         0              270            0
  65  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  66  AluminumFoil    0.751          0.225          0.287          0              0              0
  67  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  68  Shelf           0.771          0.226          0.445          0              0              0
  69  Shelf           0.771          0.456          0.446          0              0              0
  70  Faucet          1.025          0.873          -0.678         270            180            0
  71  Shelf           -0.350         0.497          0.857          0              0              0
  72  DiningTable     -1.929         -0.035         -1.398         0              90             0
  73  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  74  NorthWall
  75  EastWall
  76  SouthWall
  77  WestWall

Plan:
STEP 1: Turn to the right and go across the room. Turn right to locate the small black table. | STEP 2: Pick up the spoon from the left side of the table.  | STEP 3: Carry the spoon to the right, and face the sink on the left. | STEP 4: Place the spoon in the sink and turn on the water. Turn off the water and pick up the spoon. | STEP 5: Take the spoon and turn to the left and face the white table. | STEP 6: Place the spoon under the lettuce on the table. | END