Task: Wash the spoon in the sink.

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          -3.25          0              270            0
   1  Potato          0.785          0.498          -1.802         0              270            0              64
   2  DishSponge      0.812          1.463          -0.022         0              0              0              55
   3  DishSponge      -0.051         0.900          1.015          0              270            0              70
   4  ButterKnife     0.574          0.760          -0.188         0              90             0              43
   5  Spatula         0.720          0.774          0.002          0              270            0              43
   6  Spoon           0.841          0.665          0.387          0              0              0              49
   7  Spoon           -1.535         0.697          -3.529         0              90             0              71
   8  Fork            0.866          0.760          0.002          0              270            0              43
   9  Egg             0.672          0.809          -0.515         0              270            0              67
  10  Cup             0.732          0.014          -0.315         0              0              0              54
  11  Cup             0.803          0.882          -0.314         0              0              0              44
  12  SoapBottle      -0.855         0.899          1.187          0              270            0              70
  13  SoapBottle      -1.635         0.701          -1.524         0              0              0              80
  14  PepperShaker    0.949          1.460          0.411          0              0              0              56
  15  PepperShaker    -1.056         0.896          1.015          0              270            0              70
  16  SaltShaker      0.858          1.460          -0.331         0              0              0              55
  17  SaltShaker      0.961          0.660          0.508          0              0              0              49
  18  Lettuce         0.661          0.751          0.326          0              0              0              49
  19  Mug             0.898          0.010          -0.119         0              0              0              54
  20  Apple           0.841          0.826          -0.680         0              270            0              67
  21  Apple           0.824          1.212          -2.190         0              270            0              64
  22  Pot             -2.097         0.930          1.049          0              0              0              51
  23  Plate           -1.719         0.705          -1.307         0              0              0              80
  24  Fork            0.950          0.884          0.098          0              0              0              44
  25  SoapBottle      0.787          0.014          0.011          0              0              0              54
  26  Apple           -1.056         0.954          1.101          0              270            0              70
  27  Pan             -1.555         0.930          1.049          0              0              0              53
  28  Egg             0.883          0.809          -0.845         0              270            0              67
  29  Spatula         -0.252         0.915          1.187          0              180            0              70
  30  Potato          -1.224         0.085          -3.647         0              270            0              59
  31  Cup             0.661          0.664          0.508          0              0              0              49
  32  SaltShaker      -1.599         0.692          -3.445         0              0              0              71
  33  PepperShaker    0.676          0.012          -0.768         0              0              0              47
  34  ButterKnife     0.757          0.772          -0.625         0              270            0              67
  35  DishSponge      0.994          1.463          0.534          0              0              0              56
  36  Bread           -0.873         0.931          0.978          0              24.231         0              70
  37  Lettuce         -0.252         0.987          1.015          0              270            0              70
  38  Tomato          0.582          0.931          -0.314         0              0              0              44
  39  Spoon           0.877          0.884          -0.039         0              0              0              44
  40  Knife           -1.719         0.724          -0.875         0              0              0              80
  41  Mug             -2.002         0.794          -3.640         0              0              0              66
  42  Bowl            0.149          0.899          0.929          0              270            0              70
  43  Drawer          0.706          0.766          -0.125         0              0              0
  44  CounterTop      0.792          0.919          -0.108         0              0              0
  45  Mirror          1.093          1.602          -0.643         0              0              0
  46  StoveBurner     -2.096         0.890          0.785          0              0              0
  47  Cabinet         0.507          0.345          -0.426         0              0              0
  48  StoveBurner     -1.552         0.890          0.785          0              0              0
  49  SideTable       0.770          -0.030         0.443          0              0              0
  50  Sink            0.753          0.882          -0.680         0              0              0
  51  StoveBurner     -2.096         0.890          1.049          0              0              0
  52  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  53  StoveBurner     -1.554         0.890          1.049          0              0              0
  54  Cabinet         0.507          0.345          0.156          0              0              0
  55  Cabinet         0.717          1.822          -0.398         0              0              0
  56  Cabinet         0.717          1.822          0.669          0              0              0
  57  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  58  Toaster         -0.522         0.886          1.081          0              180            0
  59  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  60  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  61  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  62  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  63  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  64  Fridge          0.680          -0.031         -1.957         0              0              0
  65  Window          -2.424         1.639          -2.453         90             270            0
  66  Microwave       -1.994         0.690          -3.651         0              0              0
  67  SinkBasin       0.757          0.762          -0.688         0              270            0
  68  LightSwitch     1.102          1.368          -3.737         0              270            0
  69  Shelf           -0.350         0.124          0.857          0              0              0
  70  DiningTable     -0.350         -0.025         0.857          0              0              0
  71  DiningTable     -1.909         -0.032         -3.507         0              0              0
  72  Blinds          -2.343         2.151          -2.437         0              270            0
  73  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  74  AluminumFoil    0.751          0.225          0.287          0              0              0
  75  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  76  Shelf           0.771          0.226          0.445          0              0              0
  77  Shelf           0.771          0.456          0.446          0              0              0
  78  Faucet          1.025          0.873          -0.678         270            180            0
  79  Shelf           -0.350         0.497          0.857          0              0              0
  80  DiningTable     -1.929         -0.035         -1.398         0              90             0
  81  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Turn to the right then walk forward. Turn right and face the shelving unit.  | STEP 2: Pick up the spoon from the shelf.  | STEP 3: Turn to the right then turn to the left and face the sink.  | STEP 4: Place the spoon in the sink and wash it. Drain the water and then take out the spoon.  | STEP 5: Turn around completely and walk to the left. Turn to the right and face the shelf again.  | STEP 6: Place the spoon on the shelf again.  | END