Task: Put a clean spoon away in the drawer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.900          0.5            0              270            0
   1  Potato          2.777          1.323          -0.578         0              0              0              100
   2  DishSponge      1.141          0.911          -0.6           0              0              0              45
   3  DishSponge      -0.694         0.820          -1.103         0              90             0              104
   4  ButterKnife     -0.785         0.820          -1.473         0              0              0              104
   5  Spoon           2.205          0.772          -0.460         0              180            0              58
   6  Spoon           -1.056         0.822          -1.360         0              90             0              104
   7  Fork            -0.621         0.821          -1.308         0              90             0              104
   8  Egg             1.422          0.949          1.299          0              0              0              80
   9  Egg             -0.246         0.949          1.214          0              0              0              56
  10  Knife           -0.766         0.853          -1.257         0              90             0              104
  11  Knife           1.688          0.944          1.129          0              0              0              80
  12  SoapBottle      -0.198         0.917          1.044          0              0              0              56
  13  SoapBottle      -0.201         1.660          1.546          0              0              0              71
  14  Tomato          -0.621         0.852          -1.411         0              90             0              104
  15  Tomato          2.653          1.594          -0.512         0              0              0              100
  16  Bowl            2.221          0.909          1.214          0              0              0              80
  17  PepperShaker    2.222          1.650          1.432          0              0              0              69
  18  PepperShaker    1.792          0.111          1.117          0              0              0              65
  19  Lettuce         1.955          0.992          1.214          0              0              0              80
  20  Mug             0.888          0.906          -0.345         0              0              0              45
  21  Apple           0.466          1.853          1.488          0              180            0              103
  22  SoapBottle      1.104          1.661          1.507          0              0              0              72
  23  Plate           2.488          0.914          1.299          0              0              0              80
  24  Fork            2.837          0.771          1.122          0              90             0              89
  25  Pot             0.281          0.964          1.082          0              0              0              51
  26  Bread           2.715          1.077          -0.709         0              0              0              100
  27  Egg             -0.103         0.949          1.044          0              0              0              56
  28  Kettle          1.902          0.912          -0.430         0              0              0              45
  29  Tomato          -2.048         0.455          1.459          0              270            0              98
  30  Cup             0.363          1.782          1.391          0              180            0              103
  31  Spatula         0.152          0.926          -0.302         0              180            0              45
  32  Apple           1.688          0.980          1.468          0              0              0              80
  33  Pan             1.155          0.911          1.383          0              0              0              80
  34  Lettuce         -0.939         0.901          -1.400         0              0              0              104
  35  SaltShaker      1.872          1.650          -0.887         0              180            0              82
  36  Knife           0.123          0.798          -0.651         0              180            0              102
  37  Potato          -0.055         0.946          1.553          0              0              0              56
  38  PepperShaker    1.141          0.908          -0.854         0              0              0              45
  39  ButterKnife     -0.294         0.911          1.129          0              90             0              56
  40  Bowl            -0.103         0.909          1.383          0              0              0              56
  41  DishSponge      -0.887         0.820          -1.183         0              0              0              104
  42  Spoon           0.888          0.912          -0.515         0              0              0              45
  43  Mug             2.258          0.109          1.231          0              0              0              81
  44  Sink            0.050          0.902          -0.648         0              0              0
  45  CounterTop      1.358          0.947          -0.600         0              0              0
  46  Cabinet         2.986          2.009          1.304          0              0              0
  47  Cabinet         1.022          2.009          -0.607         0              180            0
  48  StoveBurner     0.678          0.923          1.082          0              0              0
  49  Cabinet         2.371          0.402          0.995          0              0              0
  50  Drawer          -0.125         0.792          0.995          0              0              0
  51  StoveBurner     0.281          0.923          1.082          0              0              0
  52  Cabinet         1.025          0.402          0.995          0              0              0
  53  Cabinet         1.023          0.402          -0.296         0              180            0
  54  Cabinet         0.974          2.259          1.304          0              0              0
  55  Cabinet         0.979          2.009          -0.607         0              180            0
  56  CounterTop      -0.158         0.947          1.299          0              0              0
  57  Cabinet         1.725          2.009          1.304          0              0              0
  58  Drawer          2.205          0.792          -0.294         0              180            0
  59  Drawer          1.869          0.792          -0.294         0              180            0
  60  StoveBurner     0.281          0.923          1.347          0              0              0
  61  Drawer          2.512          0.792          0.995          0              0              0
  62  Cabinet         1.673          0.402          -0.296         0              180            0
  63  Drawer          1.524          0.792          0.995          0              0              0
  64  Drawer          1.174          0.792          -0.294         0              180            0
  65  Cabinet         1.720          0.402          0.995          0              0              0
  66  Cabinet         2.348          2.009          -0.607         0              180            0
  67  Cabinet         1.676          2.009          -0.607         0              180            0
  68  Cabinet         1.673          2.009          1.304          0              0              0
  69  Cabinet         2.326          2.009          1.304          0              0              0
  70  Cabinet         2.370          2.009          1.304          0              0              0
  71  Cabinet         0.021          2.009          1.304          0              0              0
  72  Cabinet         1.025          2.009          1.304          0              0              0
  73  Cabinet         -0.274         0.402          0.995          0              0              0
  74  Cabinet         1.675          0.402          0.995          0              0              0
  75  Drawer          1.524          0.792          -0.294         0              180            0
  76  Drawer          2.187          0.792          0.995          0              0              0
  77  Cabinet         2.977          0.402          0.995          0              0              0
  78  Drawer          1.862          0.792          0.995          0              0              0
  79  Cabinet         0.072          2.259          1.304          0              0              0
  80  CounterTop      1.917          0.947          1.299          0              0              0
  81  Cabinet         2.328          0.402          0.995          0              0              0
  82  Cabinet         1.723          2.009          -0.607         0              180            0
  83  StoveBurner     0.677          0.923          1.345          0              0              0
  84  Cabinet         0.355          2.009          -0.607         0              180            0
  85  Cabinet         0.332          2.009          -0.607         0              180            0
  86  Cabinet         2.349          0.402          -0.296         0              180            0
  87  Cabinet         -0.284         2.009          -0.607         0              180            0
  88  Faucet          0.061          0.906          -0.903         0              0              0
  89  Drawer          2.837          0.792          0.995          0              0              0
  90  Drawer          1.175          0.792          0.995          0              0              0
  91  Cabinet         1.723          0.402          -0.296         0              180            0
  92  StoveKnob       0.588          1.093          1.557          287.970        0              0
  93  StoveKnob       0.188          1.093          1.557          287.970        0              0
  94  StoveKnob       0.749          1.093          1.557          287.970        0              0
  95  StoveKnob       0.338          1.093          1.557          287.970        0              0
  96  Toaster         1.934          0.900          -0.717         0              0              0
  97  LightSwitch     -1.662         1.427          1.649          0              180            0
  98  GarbageCan      -1.965         -0.029         1.358          0              270            0
  99  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 100  Fridge          3.043          0.0            -0.709         0              0              0
 101  Window          -2.183         1.501          -0.014         90             270            0
 102  SinkBasin       0.043          0.755          -0.651         0              0              0
 103  Microwave       0.531          1.675          1.437          0              180            0
 104  DiningTable     -0.836         8.404          -1.258         0              0              0
 105  Chair           -1.611         0.002          -1.185         0              45             0
 106  NorthWall
 107  EastWall
 108  SouthWall
 109  WestWall

Plan:
STEP 1: turn to the left facing the counter | STEP 2: pick up the spoon from the counter | STEP 3: turn around and then turn left walking towards the sink | STEP 4: put the spoon in the sink, wash it, then take it out | STEP 5: turn around and open the drawer | STEP 6: put the clean spoon in the drawer | END