Task: wash the spoon and put it back 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           0.75           0.901          -0.25          0              180            0
   1  Pan             2.112          1.321          -0.278         0              180            0              69
   2  Potato          2.000          1.361          -0.550         0              270            0              69
   3  Potato          2.071          0.978          0.361          0              90             0              59
   4  WineBottle      0.033          0.791          0.713          0              0              0              75
   5  WineBottle      -0.263         0.038          -0.832         0              90             0              70
   6  ButterKnife     -0.349         0.781          0.881          356.158        0              0              75
   7  ButterKnife     -0.196         0.791          1.386          0              0              0              75
   8  Egg             -0.425         0.826          0.881          0              0              0              75
   9  Egg             0.033          0.833          1.049          0              0              0              75
  10  Tomato          -0.041         0.983          2.425          0              0              0              48
  11  SaltShaker      1.805          1.498          2.843          0              0              0              49
  12  PepperShaker    -0.042         0.785          0.545          0              0              0              75
  13  PepperShaker    -0.348         0.932          2.425          0              0              0              48
  14  Mug             2.064          0.989          2.462          0              225            0              74
  15  Mug             -0.042         0.785          0.881          0              180            0              75
  16  Apple           -0.261         1.085          1.961          0              90             0              73
  17  Egg             -0.272         0.833          1.386          0              0              0              75
  18  Lettuce         1.997          0.999          2.063          0              180            0              48
  19  Fork            0.002          0.746          1.925          0              0              0              47
  20  SoapBottle      -0.396         0.938          2.688          0              0              0              48
  21  Ladle           -0.349         0.835          1.217          0              0              0              75
  22  Ladle           -0.096         0.942          2.546          6.838          45             340.406        48
  23  Bread           -0.200         0.824          0.815          0              0              0              75
  24  SaltShaker      0.174          0.932          2.688          0              0              0              48
  25  Potato          -0.119         0.831          0.377          0              0              0              75
  26  Pan             2.140          0.935          1.504          0              180            0              43
  27  WineBottle      2.301          0.939          0.806          0              0              0              59
  28  Spatula         -0.272         0.805          0.377          0              0              0              75
  29  Knife           1.802          0.772          0.514          0              90             0              57
  30  Tomato          -0.119         0.837          1.217          0              0              0              75
  31  Apple           0.788          0.845          2.584          0              0              0              72
  32  ButterKnife     1.660          0.926          2.473          0              352.515        0              48
  33  Pot             1.854          0.937          1.497          0              0              0              52
  34  PepperShaker    2.167          1.496          1.963          0              0              0              51
  35  Cup             0.576          0.793          2.750          0              0              0              72
  36  DishSponge      -0.425         0.790          1.049          0              0              0              75
  37  Plate           0.566          0.085          2.523          0              0              0              55
  38  Spoon           -0.282         0.938          2.548          0              90             0              48
  39  Mug             -0.294         1.030          2.068          0              90             0              73
  40  Bowl            1.156          0.078          2.484          0              0              0              54
  41  Cabinet         2.041          2.113          2.618          0              0              0
  42  Cabinet         0.126          0.388          1.774          0              0              0
  43  StoveBurner     2.140          0.929          1.504          0              180            0
  44  Cabinet         1.760          0.388          2.346          0              0              0
  45  Cabinet         1.760          0.388          0.869          0              0              0
  46  Cabinet         2.041          1.810          0.283          0              0              0
  47  Drawer          -0.024         0.774          2.061          0              0              0
  48  CounterTop      1.065          0.973          2.666          0              0              0
  49  Cabinet         1.969          2.113          2.618          0              0              0
  50  StoveBurner     2.140          0.929          1.106          0              0              0
  51  Cabinet         2.041          2.113          1.809          0              0              0
  52  StoveBurner     1.866          0.929          1.504          0              180            0
  53  Cabinet         2.041          2.113          1.766          0              0              0
  54  Cabinet         1.514          0.388          2.360          0              0              0
  55  Cabinet         0.351          0.388          2.360          0              0              0
  56  Cabinet         2.041          1.810          0.872          0              0              0
  57  Drawer          2.167          0.774          0.582          0              0              0
  58  Cabinet         2.041          2.113          0.892          0              0              0
  59  CounterTop      2.060          0.973          0.583          0              0              0
  60  Sink            0.935          0.936          2.646          0              0              0
  61  Curtains        0.964          2.061          2.989          0              0              0
  62  StoveBurner     1.863          0.929          1.106          0              0              0
  63  Drawer          1.911          0.774          2.060          0              0              0
  64  StoveKnob       2.326          1.092          1.610          288.013        90             0
  65  StoveKnob       2.326          1.092          1.460          288.013        90             0
  66  StoveKnob       2.326          1.092          1.210          288.013        90             0
  67  StoveKnob       2.326          1.092          1.050          288.013        90             0
  68  Toaster         2.126          0.926          0.572          0              270            0
  69  Fridge          2.104          0.0            -0.279         0              270            0
  70  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  71  LightSwitch     0.354          1.518          -1.031         0              0              0
  72  SinkBasin       0.903          0.784          2.640          0              0              0
  73  Microwave       -0.310         0.926          2.077          0              90             0
  74  CoffeeMachine   2.084          0.927          2.667          0              225            0
  75  DiningTable     -0.153         -0.000         1.073          0              270            0
  76  Faucet          1.175          0.926          2.950          270            90             0
  77  Faucet          0.686          0.926          2.950          270            90             0
  78  Chair           -0.077         0.002          0.196          0              15.000         0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: go through the kitchen to the table | STEP 2: pick up the spoon sitting at the back of the table | STEP 3: take the spoon over to the sink | STEP 4: put the spoon in the sink and turn on the water and take out the spoon | STEP 5: cross over the kitchen back to the table | STEP 6: set the spoon down in front of the mug | END