Task: Put the cleaned spoon in the kitchen drawer

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          0.900          4.0            0              90             0
   1  Pan             2.304          0.764          4.521          0              329.999        0              56
   2  Pan             2.265          1.026          1.452          0              136.999        0              55
   3  Potato          2.710          0.806          4.229          0              225            0              56
   4  Potato          3.043          1.068          0.068          0              0              0              55
   5  Ladle           -0.544         1.066          0.692          0              0              0              58
   6  DishSponge      -1.130         1.027          1.612          0              0              0              58
   7  ButterKnife     2.336          1.026          1.797          0              136.999        0              55
   8  WineBottle      -0.889         0.048          2.316          0              0              0              75
   9  WineBottle      2.626          0.765          3.895          0              270            0              56
  10  Glassbottle     -1.159         1.028          1.243          0              0              0              58
  11  Pot             2.116          1.027          -1.84          0              270            0              59
  12  Spatula         2.452          0.816          1.117          0              47.0           0              68
  13  Fork            2.615          0.801          0.743          0              317.0          0              67
  14  Fork            -0.782         0.817          1.259          0              180            0              112
  15  Cup             -0.947         0.784          -0.738         0              90             0              99
  16  SoapBottle      2.276          0.763          3.969          0              270            0              56
  17  SoapBottle      2.673          0.763          3.445          0              0              0              56
  18  Bowl            -0.968         1.440          -0.738         0              90             0              99
  19  Bowl            2.788          1.025          1.102          0              136.999        0              55
  20  SaltShaker      -0.983         1.776          2.543          0              0              0              93
  21  PepperShaker    -0.716         0.044          2.417          0              0              0              61
  22  PepperShaker    -0.347         1.023          1.448          0              0              0              58
  23  Lettuce         2.509          1.085          1.401          0              136.999        0              55
  24  Lettuce         -0.577         0.874          1.181          0              90             0              112
  25  Mug             2.737          0.027          -1.023         0              0              0              97
  26  Apple           -1.101         0.374          -0.184         0              90             0              99
  27  Pan             2.790          1.026          -0.236         0              0              0              55
  28  Glassbottle     2.275          0.765          4.192          0              270            0              56
  29  Knife           1.925          0.789          3.969          0              270            0              56
  30  SoapBottle      2.599          0.763          3.795          0              0              0              56
  31  Egg             -0.831         1.486          -0.184         0              90             0              99
  32  Fork            -0.645         0.817          1.414          0              90             0              112
  33  Potato          -0.577         0.858          1.337          0              90             0              112
  34  Ladle           2.790          0.803          3.529          0              329.999        0              56
  35  Tomato          2.959          1.080          -1.151         0              0              0              55
  36  Pot             1.836          1.027          -1.84          0              90             0              53
  37  WineBottle      2.376          0.765          4.145          0              0              0              56
  38  Plate           2.451          0.764          3.97           0              270            0              56
  39  Spatula         2.243          0.779          3.657          0              225            0              56
  40  PaperTowelRoll  -0.544         1.131          2.311          0              0              0              58
  41  Lettuce         -1.069         0.844          -0.516         0              180            0              99
  42  Apple           -0.794         1.077          0.877          0              0              0              58
  43  SaltShaker      2.840          0.760          4.359          0              225            0              56
  44  PepperShaker    2.801          0.760          3.747          0              270            0              56
  45  ButterKnife     2.086          0.764          3.815          0              225            0              56
  46  Bread           -0.544         1.095          2.066          0              0              0              58
  47  Cup             1.409          1.025          -1.881         0              90             0              55
  48  DishSponge      1.721          2.280          -1.834         0              0              0              71
  49  Bowl            2.899          0.031          -0.220         0              0              0              81
  50  Spoon           2.790          0.765          3.529          0              329.999        0              56
  51  Mug             1.895          1.856          -1.809         0              0              0              101
  52  Sink            -0.716         1.023          1.333          0              0              0
  53  StoveBurner     1.835          1.018          -1.840         0              90             0
  54  StoveBurner     2.177          1.018          -1.599         0              0              0
  55  CounterTop      2.812          0.992          0.675          0              0              0
  56  DiningTable     2.419          0.003          3.930          0              0              0
  57  Drawer          -0.643         0.828          0.616          0              0              0
  58  CounterTop      -0.813         1.062          2.188          0              0              0
  59  StoveBurner     2.115          1.018          -1.840         0              270            0
  60  Drawer          -0.643         0.831          1.953          0              0              0
  61  Drawer          -0.643         0.833          2.418          0              0              0
  62  Drawer          1.347          0.836          -1.539         0              0              0
  63  Drawer          2.693          0.833          -1.131         0              0              0
  64  Drawer          2.693          0.833          -0.699         0              0              0
  65  Drawer          2.693          0.833          -0.267         0              0              0
  66  Drawer          2.693          0.833          0.163          0              0              0
  67  Drawer          2.524          0.833          0.720          0              2.000          0
  68  Drawer          2.232          0.833          1.036          0              2.000          0
  69  Drawer          1.936          0.833          1.354          0              2.000          0
  70  Drawer          1.646          0.833          1.670          0              2.000          0
  71  Cabinet         1.504          2.475          -1.710         0              0              0
  72  Cabinet         -0.823         2.220          1.621          0              0              0
  73  Cabinet         -0.823         2.220          0.615          0              0              0
  74  Cabinet         1.136          0.388          -1.355         0              0              0
  75  Cabinet         -0.356         0.383          2.626          0              0              0
  76  Cabinet         2.745          2.220          -1.690         0              0              0
  77  Cabinet         1.882          0.383          1.017          0              0              0
  78  Cabinet         1.307          0.473          1.640          0              0              0
  79  Cabinet         1.892          0.383          1.006          0              0              0
  80  Cabinet         2.467          0.383          0.383          0              0              0
  81  Cabinet         2.466          0.383          -0.475         0              0              0
  82  Cabinet         2.466          0.473          0.371          0              0              0
  83  Cabinet         2.386          2.475          -1.710         0              0              0
  84  Cabinet         -0.356         0.383          1.712          0              0              0
  85  Cabinet         2.745          2.220          0.019          0              0              0
  86  Cabinet         -0.663         2.496          0.157          0              0              0
  87  Cabinet         -0.663         2.496          -0.868         0              0              0
  88  Cabinet         -0.356         0.383          0.269          0              0              0
  89  Cabinet         -0.823         2.220          1.603          0              0              0
  90  Cabinet         -0.662         2.234          0.586          0              0              0
  91  Cabinet         2.745          2.220          -0.843         0              0              0
  92  Cabinet         2.745          2.220          -0.827         0              0              0
  93  Cabinet         -0.823         2.220          2.608          0              0              0
  94  Cabinet         2.732          2.226          -1.709         0              0              0
  95  Cabinet         1.137          2.226          -1.709         0              0              0
  96  Cabinet         2.466          0.383          -0.491         0              0              0
  97  Cabinet         2.466          0.383          -1.339         0              0              0
  98  StoveBurner     1.761          1.018          -1.599         0              0              0
  99  Fridge          -0.908         0.0            -0.405         0              0              0
 100  HousePlant      2.517          1.016          1.822          0              0              0
 101  Microwave       1.939          1.745          -1.826         0              0              0
 102  StoveKnob       2.017          1.041          -1.514         0              180            180
 103  StoveKnob       1.934          1.041          -1.514         0              180            180
 104  StoveKnob       2.017          1.041          -1.589         0              180            180
 105  StoveKnob       1.934          1.041          -1.589         0              180            180
 106  Window          1.756          1.608          4.762          90             0              0
 107  HousePlant      2.171          1.004          2.091          0              0              0
 108  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 109  LightSwitch     -0.099         1.410          -2.066         0              0              0
 110  GarbageCan      -0.951         -0.029         2.826          0              0              0
 111  Toaster         -1.007         1.018          2.238          0              90             0
 112  SinkBasin       -0.714         0.805          1.348          0              90             0
 113  Chair           1.615          0.004          4.310          0              107.976        0
 114  Faucet          -1.120         1.013          1.334          0              90             0
 115  Chair           2.759          0.004          3.086          0              358.967        0
 116
 117  NorthWall
 118  EastWall
 119  SouthWall
 120  WestWall

Plan:
STEP 1: Turn right and walk forward then turn right to face the counter left of the sink | STEP 2: Pick up the large spoon from the counter | STEP 3: Turn right and walk to the kitchen sink | STEP 4: Wash the spoon under water in the sink then remove it | STEP 5: Turn around and walk forward to the opposite counter | STEP 6: Open the top drawer second from the left and put the spoon in it | END