Task: place clean spoon on counter below lettuce

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.900          -1.0           0              180            0
   1  SprayBottle     1.454          1.161          -1.688         0              0              0              79
   2  Pen             0.292          0.913          -1.395         0              0              0              52
   3  Ladle           -2.116         0.954          -1.448         0              0              0              71
   4  Ladle           0.758          0.955          -1.619         0              0              0              73
   5  Kettle          -1.081         0.949          -1.81          0              0              0              69
   6  ButterKnife     1.414          1.162          -1.002         0              0              0              79
   7  Glassbottle     0.589          0.117          -1.489         0              90             0              67
   8  Glassbottle     1.302          0.215          1.051          0              0              0              90
   9  Fork            -1.712         0.911          0.463          0              0              0              75
  10  Spatula         -1.886         0.925          -1.879         0              180            0              71
  11  Spatula         0.199          0.926          -1.436         0              0              0              52
  12  Pot             -0.401         0.913          -1.874         0              0              0              73
  13  Egg             1.414          1.191          -1.345         0              0              0              79
  14  Cup             1.325          1.367          1.976          0              270            0              92
  15  Knife           0.982          0.802          -1.068         0              270            0              51
  16  Knife           0.916          0.804          -1.068         0              270            0              51
  17  SoapBottle      1.342          1.655          -1.342         0              0              0              65
  18  Bowl            0.217          0.920          -1.758         0              270            0              52
  19  Bowl            1.401          1.656          -0.658         0              0              0              61
  20  PepperShaker    -1.886         0.905          -1.879         0              0              0              71
  21  PepperShaker    -1.732         0.905          -1.965         0              0              0              71
  22  Lettuce         1.335          1.231          -1.002         0              0              0              79
  23  Mug             1.070          0.957          -1.641         0              0              0              89
  24  Tomato          0.664          0.951          -1.789         0              0              0              73
  25  Glassbottle     1.426          1.368          2.101          0              270            0              92
  26  Knife           1.047          0.802          -1.068         0              270            0              51
  27  Plate           1.090          0.115          -0.699         0              0              0              57
  28  Fork            -2.201         0.911          0.291          0              0              0              75
  29  Ladle           -1.809         0.954          -1.448         0              0              0              71
  30  Potato          1.332          1.859          2.306          0              270            0              92
  31  Lettuce         1.426          1.436          1.725          0              270            0              92
  32  Kettle          -2.201         0.911          0.463          0              0              0              75
  33  Pen             -0.401         0.913          -1.534         0              0              0              73
  34  SaltShaker      -2.165         1.651          -1.807         0              90             0              54
  35  Cup             1.323          1.720          1.838          0              270            0              92
  36  Egg             -2.079         0.939          0.291          0              0              0              75
  37  Spatula         0.936          0.788          0.539          0              270            0              50
  38  Bowl            1.376          1.368          2.351          0              270            0              92
  39  SprayBottle     0.852          0.910          -1.960         0              0              0              73
  40  Pan             -1.079         0.945          -1.528         0              0              0              74
  41  SoapBottle      1.459          0.214          1.08           0              0              0              90
  42  Pot             -1.431         0.949          -1.81          0              0              0              83
  43  ButterKnife     0.115          0.919          -1.657         0              270            0              52
  44  PepperShaker    0.012          0.906          -1.436         0              0              0              73
  45  DishSponge      -1.835         0.910          0.204          0              0              0              75
  46  Bread           -2.079         0.988          0.118          0              0              0              75
  47  Apple           1.275          1.402          1.851          0              270            0              92
  48  Spoon           -2.323         0.911          0.118          0              0              0              75
  49  Mug             1.376          1.260          -0.021         0              270            0              95
  50  Drawer          0.860          0.75           0.430          0              0              0
  51  Drawer          0.871          0.75           -1.134         0              0              0
  52  Sink            0.156          0.817          -1.801         0              270            0
  53  Cabinet         -0.868         2.005          -1.690         0              0              0
  54  Cabinet         -1.661         2.059          -1.684         0              90             0
  55  Cabinet         -0.817         2.059          -1.689         0              0              0
  56  Cabinet         0.860          0.402          0.665          0              0              0
  57  Cabinet         0.860          0.402          -0.552         0              0              0
  58  Cabinet         0.860          0.402          -1.365         0              0              0
  59  Cabinet         -0.244         0.402          -1.389         0              0              0
  60  Cabinet         -0.815         0.402          -1.389         0              0              0
  61  Cabinet         1.159          2.059          -0.334         0              0              0
  62  Cabinet         0.488          2.059          -1.689         0              0              0
  63  Cabinet         -0.193         2.059          -1.689         0              0              0
  64  Drawer          0.860          0.75           -0.699         0              0              0
  65  Cabinet         1.159          2.059          -1.019         0              0              0
  66  Cabinet         -1.611         2.005          -1.690         0              0              0
  67  Cabinet         0.832          0.401          -1.393         0              90             0
  68  Drawer          -2.105         0.75           -1.389         0              0              0
  69  StoveBurner     -1.081         0.941          -1.809         0              0              0
  70  Cabinet         -0.202         0.401          -1.391         0              90             0
  71  CounterTop      -1.973         0.945          -1.707         0              0              0
  72  Drawer          -0.375         0.75           -1.389         0              0              0
  73  CounterTop      1.164          0.946          -0.649         0              0              0
  74  StoveBurner     -1.081         0.941          -1.527         0              0              0
  75  CounterTop      -2.096         0.945          0.291          0              0              0
  76  Cabinet         -2.237         0.402          -1.389         0              0              0
  77  Drawer          0.584          0.75           -1.389         0              0              0
  78  Drawer          -1.795         0.75           -1.389         0              0              0
  79  CounterTop      1.5            1.197          -0.654         0              0              0
  80  Cabinet         -1.667         0.402          -1.389         0              0              0
  81  StoveBurner     -1.430         0.941          -1.525         0              0              0
  82  Drawer          -0.685         0.75           -1.389         0              0              0
  83  StoveBurner     -1.430         0.941          -1.809         0              0              0
  84  LightSwitch     -2.539         1.289          2.568          0              90             0
  85  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  86  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  87  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  88  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  89  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  90  GarbageCan      1.343          0.015          1.041          0              0              0
  91  HousePlant      1.440          1.153          0.593          0              0              0
  92  Fridge          1.417          0.0            2.101          0              0              0
  93  Window          -0.486         1.452          3.302          90             0              0
  94  SinkBasin       -0.063         0.765          -1.713         0              270            0
  95  Microwave       1.422          1.150          0.022          0              270            0
  96  Toaster         -2.066         0.900          -1.848         0              0              0
  97  Stool           -1.994         0.010          0.882          0              0              0
  98  Faucet          -0.096         1.041          -1.867         0              270            0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: turn around, go to counter with loaf of bread | STEP 2: pick up spoon to the left of bread | STEP 3: turn around, go to sink to the left | STEP 4: put spoon in sink, turn on water, turn off water, pick up spoon from sink | STEP 5: turn left, go to counter below lettuce | STEP 6: place spoon on counter below lettuce | END