Task: drop a clean spoon 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           -1.25          0.869          -0.25          0              0              0
   1  Pan             -2.097         0.930          0.785          0              0              0              37
   2  Potato          0.883          0.805          -0.680         0              270            0              58
   3  ButterKnife     -0.855         0.891          1.187          0              270            0              61
   4  ButterKnife     -1.886         0.701          -1.524         0              0              0              71
   5  Spatula         0.841          0.787          -0.735         0              0              0              58
   6  Fork            0.961          0.665          0.326          0              90             0              40
   7  SoapBottle      0.781          0.664          0.387          0              0              0              40
   8  Bowl            -1.719         0.700          -1.307         0              0              0              71
   9  Lettuce         0.149          0.987          1.101          0              270            0              61
  10  Lettuce         0.708          1.246          -1.802         0              270            0              55
  11  Mug             0.812          1.458          0.226          0              90             0              47
  12  Apple           0.721          0.718          0.265          0              0              0              40
  13  Pot             -1.555         0.930          1.049          0              0              0              44
  14  Plate           -2.054         0.705          -1.091         0              0              0              71
  15  Fork            0.841          0.665          0.569          0              0              0              40
  16  SoapBottle      -1.224         0.051          -3.574         0              270            0              50
  17  Apple           0.672          0.826          -0.625         0              270            0              58
  18  Pan             0.740          -0.007         -0.596         0              0              0              38
  19  Egg             -2.054         0.738          -1.524         0              0              0              71
  20  Spatula         -0.453         0.915          1.272          0              0              0              61
  21  Potato          0.672          0.805          -0.515         0              270            0              58
  22  Cup             0.669          1.373          -2.113         0              270            0              55
  23  SaltShaker      0.803          0.879          -0.176         0              0              0              35
  24  PepperShaker    -0.855         0.896          0.758          0              270            0              61
  25  ButterKnife     0.803          0.883          0.098          0              0              0              35
  26  DishSponge      -0.252         0.900          1.015          0              270            0              61
  27  Bread           -0.873         0.931          0.979          0              24.192         0              61
  28  Lettuce         0.746          1.245          -2.035         0              270            0              55
  29  Tomato          0.708          1.423          -1.880         0              270            0              55
  30  Spoon           0.655          0.884          0.029          0              0              0              35
  31  Knife           0.769          0.783          -0.252         0              90             0              34
  32  Mug             -0.051         0.895          1.015          0              270            0              61
  33  Bowl            0.858          1.462          0.473          0              0              0              47
  34  Drawer          0.706          0.766          -0.125         0              0              0
  35  CounterTop      0.792          0.919          -0.108         0              0              0
  36  Mirror          1.093          1.602          -0.643         0              0              0
  37  StoveBurner     -2.096         0.890          0.785          0              0              0
  38  Cabinet         0.507          0.345          -0.426         0              0              0
  39  StoveBurner     -1.552         0.890          0.785          0              0              0
  40  SideTable       0.770          -0.030         0.443          0              0              0
  41  Sink            0.753          0.882          -0.680         0              0              0
  42  StoveBurner     -2.096         0.890          1.049          0              0              0
  43  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  44  StoveBurner     -1.554         0.890          1.049          0              0              0
  45  Cabinet         0.507          0.345          0.156          0              0              0
  46  Cabinet         0.717          1.822          -0.398         0              0              0
  47  Cabinet         0.717          1.822          0.669          0              0              0
  48  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  49  Toaster         -0.522         0.886          1.081          0              180            0
  50  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  51  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  52  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  53  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  54  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  55  Fridge          0.680          -0.031         -1.957         0              0              0
  56  Window          -2.424         1.639          -2.453         90             270            0
  57  Microwave       -1.994         0.690          -3.651         0              0              0
  58  SinkBasin       0.757          0.762          -0.688         0              270            0
  59  LightSwitch     1.102          1.368          -3.737         0              270            0
  60  Shelf           -0.350         0.124          0.857          0              0              0
  61  DiningTable     -0.350         -0.025         0.857          0              0              0
  62  DiningTable     -1.909         -0.032         -3.507         0              0              0
  63  Blinds          -2.343         2.151          -2.437         0              270            0
  64  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  65  AluminumFoil    0.751          0.225          0.287          0              0              0
  66  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  67  Shelf           0.771          0.226          0.445          0              0              0
  68  Shelf           0.771          0.456          0.446          0              0              0
  69  Faucet          1.025          0.873          -0.678         270            180            0
  70  Shelf           -0.350         0.497          0.857          0              0              0
  71  DiningTable     -1.929         -0.035         -1.398         0              90             0
  72  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  73  NorthWall
  74  EastWall
  75  SouthWall
  76  WestWall

Plan:
STEP 1: turn right to the sink table | STEP 2: pick up a spoon | STEP 3: head right to the sink | STEP 4: rinse the spoon in the sink and take it out | STEP 5: turn around to the table  | STEP 6: drop the spoon on the table | END