Task: Wash the spoon on the counter and place it on a different counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          1.0            0              180            0
   1  Pen             -0.428         0.775          -1.565         0              270            0              84
   2  Pen             -1.957         0.913          0.032          0              0              0              77
   3  Potato          1.426          0.953          -0.990         0              0              0              81
   4  Ladle           1.343          0.955          0.372          0              0              0              75
   5  Ladle           -0.401         0.955          -1.874         0              0              0              75
   6  Kettle          -1.481         1.859          -1.838         0              0              0              68
   7  Kettle          -2.079         0.911          0.463          0              0              0              77
   8  ButterKnife     -1.886         0.910          -1.707         0              0              0              73
   9  Glassbottle     0.232          0.115          -1.536         0              90             0              72
  10  Fork            0.949          0.773          -1.013         0              270            0              53
  11  Pot             -1.431         0.949          -1.525         0              0              0              83
  12  Cup             -0.037         1.656          -1.839         0              0              0              65
  13  Cup             1.388          1.720          1.838          0              270            0              94
  14  Plate           1.150          0.118          0.372          0              0              0              58
  15  Plate           1.461          1.656          -0.579         0              0              0              63
  16  SoapBottle      0.758          0.911          -1.619         0              0              0              75
  17  Tomato          1.388          1.760          1.650          0              270            0              94
  18  Bowl            1.375          1.368          1.851          0              270            0              94
  19  Bread           1.176          0.989          -1.331         0              0              0              75
  20  Bread           1.454          1.240          -1.002         0              0              0              81
  21  Lettuce         -1.835         0.979          0.291          0              0              0              77
  22  Mug             1.461          1.651          -1.342         0              0              0              63
  23  Mug             1.454          1.157          -1.345         0              0              0              81
  24  Apple           1.420          1.754          1.963          0              270            0              94
  25  Apple           1.376          1.402          2.226          0              270            0              94
  26  Tomato          0.149          0.959          -1.657         0              270            0              54
  27  Glassbottle     -1.860         0.117          -1.635         0              0              0              82
  28  Knife           1.080          0.804          -1.178         0              90             0              53
  29  Plate           1.260          0.911          -0.65          0              0              0              75
  30  Fork            0.641          0.773          -1.533         0              0              0              79
  31  Ladle           1.342          1.700          -1.421         0              0              0              67
  32  Potato          -0.326         0.953          -1.619         0              0              0              75
  33  Lettuce         -2.201         0.979          0.204          0              0              0              77
  34  Kettle          0.770          0.9            -1.836         0              0              0              75
  35  Pen             1.069          0.774          -0.665         0              90             0              66
  36  SaltShaker      0.232          0.109          -1.726         0              90             0              72
  37  Cup             1.223          1.656          -1.500         0              0              0              67
  38  Egg             0.320          0.948          -1.859         0              270            0              54
  39  Spatula         -0.174         0.926          -1.409         0              180            0              75
  40  Bowl            -1.952         1.656          -1.866         0              90             0              56
  41  SprayBottle     1.459          0.213          1.108          0              0              0              92
  42  Pan             -1.081         0.949          -1.527         0              0              0              76
  43  SoapBottle      -0.748         1.655          -1.913         0              90             0              57
  44  Pot             -1.431         0.949          -1.81          0              0              0              85
  45  ButterKnife     -1.809         0.910          -1.448         0              0              0              73
  46  PepperShaker    -0.309         0.111          -1.732         0              0              0              61
  47  DishSponge      0.649          0.116          -1.633         0              90             0              69
  48  Bread           0.927          0.989          -1.331         0              0              0              75
  49  Apple           1.341          0.249          1.137          0              0              0              92
  50  Spoon           -0.703         0.912          -1.874         0              0              0              75
  51  Mug             0.149          0.914          -1.758         0              270            0              54
  52  Drawer          0.860          0.75           0.430          0              0              0
  53  Drawer          0.871          0.75           -1.134         0              0              0
  54  Sink            0.156          0.817          -1.801         0              270            0
  55  Cabinet         -0.868         2.005          -1.690         0              0              0
  56  Cabinet         -1.661         2.059          -1.684         0              90             0
  57  Cabinet         -0.817         2.059          -1.689         0              0              0
  58  Cabinet         0.860          0.402          0.665          0              0              0
  59  Cabinet         0.860          0.402          -0.552         0              0              0
  60  Cabinet         0.860          0.402          -1.365         0              0              0
  61  Cabinet         -0.244         0.402          -1.389         0              0              0
  62  Cabinet         -0.815         0.402          -1.389         0              0              0
  63  Cabinet         1.159          2.059          -0.334         0              0              0
  64  Cabinet         0.488          2.059          -1.689         0              0              0
  65  Cabinet         -0.193         2.059          -1.689         0              0              0
  66  Drawer          0.860          0.75           -0.699         0              0              0
  67  Cabinet         1.159          2.059          -1.019         0              0              0
  68  Cabinet         -1.611         2.005          -1.690         0              0              0
  69  Cabinet         0.832          0.401          -1.393         0              90             0
  70  Drawer          -2.105         0.75           -1.389         0              0              0
  71  StoveBurner     -1.081         0.941          -1.809         0              0              0
  72  Cabinet         -0.202         0.401          -1.391         0              90             0
  73  CounterTop      -1.973         0.945          -1.707         0              0              0
  74  Drawer          -0.375         0.75           -1.389         0              0              0
  75  CounterTop      1.164          0.946          -0.649         0              0              0
  76  StoveBurner     -1.081         0.941          -1.527         0              0              0
  77  CounterTop      -2.096         0.945          0.291          0              0              0
  78  Cabinet         -2.237         0.402          -1.389         0              0              0
  79  Drawer          0.584          0.75           -1.389         0              0              0
  80  Drawer          -1.795         0.75           -1.389         0              0              0
  81  CounterTop      1.5            1.197          -0.654         0              0              0
  82  Cabinet         -1.667         0.402          -1.389         0              0              0
  83  StoveBurner     -1.430         0.941          -1.525         0              0              0
  84  Drawer          -0.685         0.75           -1.389         0              0              0
  85  StoveBurner     -1.430         0.941          -1.809         0              0              0
  86  LightSwitch     -2.539         1.289          2.568          0              90             0
  87  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  88  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  89  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  90  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  91  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  92  GarbageCan      1.343          0.015          1.041          0              0              0
  93  HousePlant      1.440          1.153          0.593          0              0              0
  94  Fridge          1.417          0.0            2.101          0              0              0
  95  Window          -0.486         1.452          3.302          90             0              0
  96  SinkBasin       -0.063         0.765          -1.713         0              270            0
  97  Microwave       1.422          1.150          0.022          0              270            0
  98  Toaster         -2.066         0.900          -1.848         0              0              0
  99  Stool           -1.994         0.010          0.882          0              0              0
 100  Faucet          -0.096         1.041          -1.867         0              270            0
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: Turn right step forward, turn left step forward to counter | STEP 2: Pick up spoon next to stove | STEP 3: Turn left step forward, turn right to face sink | STEP 4: put spoon in sink, turn on water then turn off water, then pick up spoon | STEP 5: Turn left and walk towards counter | STEP 6: place spoon on counter | END