Task: To rinse of a spoon and put it 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           0.25           0.900          2.5            0              180            0
   1  Potato          2.009          1.550          5.876          0              270            0              80
   2  DishSponge      0.192          0.771          0.618          0              0              0              55
   3  DishSponge      2.055          0.080          6.469          0              0              0              82
   4  ButterKnife     -0.481         0.772          0.563          0              90             0              54
   5  ButterKnife     0.803          0.772          0.451          0              0              0              50
   6  Kettle          0.674          0.144          0.339          0              0              0              64
   7  Pot             1.317          0.988          4.294          0              0              0              53
   8  Pot             1.490          0.141          2.646          0              0              0              70
   9  Spatula         0.257          0.775          6.719          0              45             0              94
  10  Fork            -0.034         0.760          6.787          0              0              0              94
  11  Fork            1.236          0.772          3.291          0              0              0              51
  12  Egg             1.135          1.042          4.853          0              0              0              59
  13  Cup             0.064          1.093          0.245          0              0              0              74
  14  Cup             0.124          0.140          0.658          0              0              0              67
  15  Tomato          0.999          1.042          0.670          0              0              0              58
  16  SoapBottle      1.135          0.992          4.670          0              0              0              59
  17  Bowl            1.489          2.206          3.794          0              0              0              49
  18  Bowl            1.499          1.575          4.633          0              0              0              62
  19  PepperShaker    0.999          0.987          0.212          0              0              0              58
  20  PepperShaker    1.225          0.987          0.213          0              0              0              58
  21  Bread           0.150          0.829          6.416          0              270            0              94
  22  Lettuce         -0.621         0.848          6.604          0              270            0              94
  23  Bowl            0.055          0.143          0.277          0              0              0              67
  24  Bread           1.130          1.048          0.439          0              358.633        356.493        58
  25  Egg             1.225          1.042          3.417          0              0              0              58
  26  Knife           0.927          1.012          0.395          0              0              353.683        58
  27  Fork            1.403          0.993          0.440          0              0              0              58
  28  Apple           -0.346         0.834          6.632          0              0              0              94
  29  Kettle          1.493          0.993          0.213          0              0              0              58
  30  Plate           1.582          0.993          3.231          0              0              0              58
  31  SaltShaker      -0.465         0.755          6.349          0              225            0              94
  32  Lettuce         -0.687         1.081          0.212          0              0              0              58
  33  SoapBottle      1.657          0.140          3.217          0              0              0              69
  34  Spatula         0.305          0.775          6.479          0              90             0              94
  35  PaperTowelRoll  0.148          0.864          6.609          0              225            0              94
  36  Pot             1.32           0.988          3.848          0              0              0              57
  37  Potato          1.497          0.925          2.085          0              90             0              81
  38  ButterKnife     -0.487         0.760          6.807          0              135            0              94
  39  PepperShaker    1.135          0.987          0.668          0              0              0              58
  40  Pan             2.051          1.513          5.501          0              0              0              80
  41  Tomato          1.276          0.940          2.034          0              90             0              81
  42  DishSponge      0.803          0.771          0.395          0              0              0              50
  43  Cup             2.094          1.511          6.001          0              270            0              80
  44  Spoon           0.167          0.761          6.151          0              135            0              94
  45  Mug             1.497          0.885          2.188          0              0              0              81
  46  Cabinet         1.307          2.455          4.360          0              0              0
  47  Cabinet         1.054          0.422          1.710          0              0              0
  48  Drawer          1.280          0.808          4.718          0              0              0
  49  Cabinet         1.307          2.455          3.607          0              0              0
  50  Drawer          0.736          0.802          0.521          0              0              0
  51  Drawer          1.276          0.802          3.291          0              0              0
  52  StoveBurner     1.562          0.982          3.848          0              0              0
  53  StoveBurner     1.317          0.982          4.294          0              0              0
  54  Drawer          -0.482         0.802          0.521          0              0              0
  55  Drawer          0.124          0.802          0.521          0              0              0
  56  StoveBurner     1.559          0.982          4.294          0              0              0
  57  StoveBurner     1.320          0.982          3.848          0              0              0
  58  CounterTop      1.391          1.028          0.897          0              0              0
  59  CounterTop      1.391          1.028          4.716          0              0              0
  60  Cabinet         1.054          0.422          4.548          0              0              0
  61  Cabinet         1.317          2.134          0.517          0              0              0
  62  Cabinet         1.317          2.134          4.889          0              0              0
  63  Cabinet         1.317          2.134          3.095          0              0              0
  64  Cabinet         0.443          0.422          0.743          0              0              0
  65  Cabinet         1.270          2.134          0.434          0              0              0
  66  Cabinet         -0.775         0.422          0.743          0              0              0
  67  Cabinet         -0.168         0.422          0.743          0              0              0
  68  Cabinet         1.317          2.134          1.534          0              0              0
  69  Cabinet         1.054          0.422          2.990          0              0              0
  70  Cabinet         1.054          0.422          2.944          0              0              0
  71  Cabinet         -0.263         2.134          0.434          0              0              0
  72  Cabinet         0.252          2.134          0.434          0              0              0
  73  Sink            1.391          1.006          2.326          0              0              0
  74  Microwave       0.108          0.981          0.262          0              0              0
  75  HousePlant      -0.165         0.826          6.444          0              0              0
  76  CoffeeMachine   1.551          0.982          0.953          0              270            0
  77  Toaster         1.473          0.981          4.715          0              270            0
  78  Window          -2.065         1.916          3.626          90             90             0
  79  Window          1.763          2.007          2.299          90             270            0
  80  Fridge          2.035          0.0            5.625          0              0              0
  81  SinkBasin       1.387          0.880          2.338          0              90             0
  82  GarbageCan      2.001          -0.044         6.503          0              0              0
  83  StoveKnob       1.140          0.934          3.987          45             270            0
  84  StoveKnob       1.140          0.934          4.309          45             270            0
  85  StoveKnob       1.140          0.934          4.140          45             270            0
  86  StoveKnob       1.140          0.934          3.824          45             270            0
  87  Vase            -0.226         0.834          6.993          0              0              0
  88  Vase            2.098          0.043          7.070          0              257.232        0
  89  Vase            -0.594         0.835          6.130          0              225            0
  90  LightSwitch     -2.0           1.549          6.045          0              90             0
  91  Safe            2.046          1.072          7.054          0              257.232        0
  92  Faucet          1.534          1.025          2.371          0              294.391        0
  93  Blinds          1.738          2.563          2.312          0              90             0
  94  DiningTable     -0.156         0.000          6.474          0              0              0
  95  Chair           0.291          0.002          6.142          0              310.162        0
  96  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: Turn around and walk to the black table.  | STEP 2: Pick up the spoon in front of the loaf of bread.  | STEP 3: Turn around 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 black table.  | STEP 6: Put the spoon down on the table in front of the paper towels.  | END