Task: Find and clean a spoon then place inside of a drawer.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          -0.5           0              180            0
   1  Pan             -0.386         1.655          -1.839         0              0              0              61
   2  Pan             1.093          0.114          -1.071         0              0              0              64
   3  SprayBottle     -2.079         0.909          0.549          0              0              0              81
   4  Pen             1.015          0.775          -1.233         0              0              0              57
   5  Potato          1.473          1.307          0.188          0              270            0              101
   6  Potato          1.388          1.762          1.650          0              270            0              98
   7  Ladle           0.852          0.955          -1.619         0              0              0              79
   8  Ladle           1.342          1.700          -1.342         0              0              0              71
   9  Kettle          -0.996         1.851          -1.875         0              0              0              59
  10  ButterKnife     -1.809         0.910          -1.793         0              0              0              77
  11  ButterKnife     -2.079         0.910          0.118          0              0              0              81
  12  Glassbottle     1.580          1.656          -1.342         0              0              0              71
  13  Glassbottle     0.649          0.117          -1.537         0              90             0              73
  14  Fork            1.002          0.773          0.485          0              90             0              56
  15  Spoon           -0.401         0.912          -1.619         0              0              0              78
  16  Spatula         0.936          0.788          0.377          0              90             0              56
  17  Spatula         1.296          1.177          -1.688         0              90             0              85
  18  Pot             -1.431         0.949          -1.81          0              0              0              89
  19  Egg             1.344          1.294          -0.021         0              270            0              101
  20  Egg             -0.063         0.805          -1.781         0              270            0              100
  21  Knife           0.285          0.949          -1.758         0              90             0              58
  22  SoapBottle      -1.732         0.910          -1.534         0              0              0              77
  23  SoapBottle      -2.445         0.910          0.118          0              0              0              81
  24  Tomato          1.426          1.407          1.850          0              270            0              98
  25  SaltShaker      0.110          0.109          -1.678         0              90             0              76
  26  SaltShaker      -1.886         0.905          -1.793         0              0              0              77
  27  Bread           -2.201         0.988          0.377          0              0              0              81
  28  Mug             0.927          0.906          -1.331         0              0              0              79
  29  Apple           1.341          0.249          1.051          0              0              0              96
  30  Tomato          0.251          0.959          -1.808         0              270            0              58
  31  Glassbottle     1.494          1.162          -1.345         0              0              0              85
  32  Knife           1.113          0.802          -1.068         0              270            0              57
  33  Plate           -1.957         0.911          0.291          0              0              0              81
  34  Fork            1.176          0.911          0.031          0              90             0              79
  35  Ladle           0.808          1.699          -1.839         0              0              0              68
  36  Potato          1.459          0.256          1.08           0              90             0              96
  37  Lettuce         0.526          0.952          -1.566         9.019          143.625        0              79
  38  Kettle          -1.431         0.949          -1.525         0              0              0              87
  39  Pen             -2.323         0.913          0.463          0              0              0              81
  40  SaltShaker      -1.732         0.905          -1.965         0              0              0              77
  41  Cup             -1.712         0.910          0.549          0              0              0              81
  42  Egg             0.217          0.948          -1.708         0              270            0              58
  43  Spatula         -2.323         0.925          0.204          0              90             0              81
  44  Bowl            1.426          1.368          2.101          0              270            0              98
  45  SprayBottle     1.092          0.117          0.372          0              0              0              62
  46  Pan             -1.079         0.945          -1.528         0              0              0              80
  47  SoapBottle      1.223          1.655          -0.500         0              90             0              67
  48  Pot             1.426          1.369          2.351          0              270            0              98
  49  ButterKnife     -1.957         0.910          0.463          0              0              0              81
  50  PepperShaker    -2.173         0.106          -1.487         0              0              0              82
  51  DishSponge      -0.374         0.116          -1.683         0              0              0              65
  52  Bread           1.335          1.240          -1.002         0              0              0              85
  53  Apple           1.093          0.945          0.031          0              0              0              79
  54  Spoon           -2.039         0.911          -1.534         0              0              0              77
  55  Mug             -2.201         0.905          0.118          0              0              0              81
  56  Drawer          0.860          0.75           0.430          0              0              0
  57  Drawer          0.871          0.75           -1.134         0              0              0
  58  Sink            0.156          0.817          -1.801         0              270            0
  59  Cabinet         -0.868         2.005          -1.690         0              0              0
  60  Cabinet         -1.661         2.059          -1.684         0              90             0
  61  Cabinet         -0.817         2.059          -1.689         0              0              0
  62  Cabinet         0.860          0.402          0.665          0              0              0
  63  Cabinet         0.860          0.402          -0.552         0              0              0
  64  Cabinet         0.860          0.402          -1.365         0              0              0
  65  Cabinet         -0.244         0.402          -1.389         0              0              0
  66  Cabinet         -0.815         0.402          -1.389         0              0              0
  67  Cabinet         1.159          2.059          -0.334         0              0              0
  68  Cabinet         0.488          2.059          -1.689         0              0              0
  69  Cabinet         -0.193         2.059          -1.689         0              0              0
  70  Drawer          0.860          0.75           -0.699         0              0              0
  71  Cabinet         1.159          2.059          -1.019         0              0              0
  72  Cabinet         -1.611         2.005          -1.690         0              0              0
  73  Cabinet         0.832          0.401          -1.393         0              90             0
  74  Drawer          -2.105         0.75           -1.389         0              0              0
  75  StoveBurner     -1.081         0.941          -1.809         0              0              0
  76  Cabinet         -0.202         0.401          -1.391         0              90             0
  77  CounterTop      -1.973         0.945          -1.707         0              0              0
  78  Drawer          -0.375         0.75           -1.389         0              0              0
  79  CounterTop      1.164          0.946          -0.649         0              0              0
  80  StoveBurner     -1.081         0.941          -1.527         0              0              0
  81  CounterTop      -2.096         0.945          0.291          0              0              0
  82  Cabinet         -2.237         0.402          -1.389         0              0              0
  83  Drawer          0.584          0.75           -1.389         0              0              0
  84  Drawer          -1.795         0.75           -1.389         0              0              0
  85  CounterTop      1.5            1.197          -0.654         0              0              0
  86  Cabinet         -1.667         0.402          -1.389         0              0              0
  87  StoveBurner     -1.430         0.941          -1.525         0              0              0
  88  Drawer          -0.685         0.75           -1.389         0              0              0
  89  StoveBurner     -1.430         0.941          -1.809         0              0              0
  90  LightSwitch     -2.539         1.289          2.568          0              90             0
  91  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  92  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  93  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  94  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  95  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  96  GarbageCan      1.343          0.015          1.041          0              0              0
  97  HousePlant      1.440          1.153          0.593          0              0              0
  98  Fridge          1.417          0.0            2.101          0              0              0
  99  Window          -0.486         1.452          3.302          90             0              0
 100  SinkBasin       -0.063         0.765          -1.713         0              270            0
 101  Microwave       1.422          1.150          0.022          0              270            0
 102  Toaster         -2.066         0.900          -1.848         0              0              0
 103  Stool           -1.994         0.010          0.882          0              0              0
 104  Faucet          -0.096         1.041          -1.867         0              270            0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: Turn left and walk straight ahead. Turn right to face the sink. | STEP 2: Pick up the spoon to the right of the sink | STEP 3: Place the spoon inside of the sink. | STEP 4: Turn the faucet on so water fills the sink. Turn off the faucet and pick up the spoon. | STEP 5: Turn left and open the small wooden drawer in front of the watermelon | STEP 6: Place the spoon inside of the drawer and close the drawer. | END