Task: Rinse a spoon and place it 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           0.25           0.900          3.0            0              270            0
   1  Potato          -2.473         0.761          1.891          0              90             0              79
   2  Potato          -2.577         1.038          2.221          0              90             0              79
   3  DishSponge      -1.836         0.697          3.857          0              0              0              82
   4  DishSponge      -2.580         1.634          2.651          0              0              0              60
   5  ButterKnife     1.010          0.813          2.373          0              0              0              52
   6  ButterKnife     1.010          0.813          0.985          3.315          0              0              47
   7  Pot             0.913          0.850          1.375          0              0              0              46
   8  Fork            0.668          0.692          2.568          0              270            0              44
   9  Egg             0.902          0.060          2.889          0              0              0              81
  10  Egg             -0.921         0.936          1.246          0              90             0              88
  11  Cup             -1.749         1.683          3.936          0              0              0              42
  12  Cup             -0.657         0.900          1.143          0              90             0              88
  13  Tomato          -0.524         0.969          1.555          0              90             0              88
  14  Bowl            -2.504         1.847          1.904          0              0              0              72
  15  SaltShaker      0.800          0.819          2.198          0              0              0              52
  16  Lettuce         -2.694         0.843          2.221          0              90             0              79
  17  Apple           -2.694         1.056          2.389          0              90             0              79
  18  Apple           -1.053         0.961          1.452          0              90             0              88
  19  Plate           0.859          0.814          0.975          0              0              0              47
  20  Fork            0.839          0.692          2.163          0              90             0              41
  21  Bread           0.828          0.861          2.449          0              0              0              47
  22  Spatula         -1.317         0.915          1.349          0              90             0              88
  23  PaperTowelRoll  -2.744         0.927          3.947          0              0              0              70
  24  Potato          0.650          0.866          1.028          0              0              0              47
  25  SoapBottle      -1.317         0.900          0.937          0              90             0              88
  26  Egg             0.989          0.060          2.947          0              0              0              81
  27  Cup             1.099          0.812          0.939          0              0              0              47
  28  Pot             0.913          0.850          1.768          0              0              0              68
  29  SaltShaker      -2.502         1.630          3.097          0              0              0              66
  30  Pan             -2.667         0.812          3.74           0              137.145        0              70
  31  PepperShaker    -0.789         0.896          1.452          0              90             0              88
  32  ButterKnife     -0.789         0.900          1.555          0              180            0              88
  33  Tomato          -0.913         0.962          1.484          0              0              0              88
  34  DishSponge      -1.317         0.900          1.143          0              90             0              88
  35  Lettuce         -0.580         0.956          1.358          31.822         0              0              88
  36  Spoon           -0.524         0.901          1.040          0              90             0              88
  37  Apple           -1.486         1.420          3.901          0              180            0              76
  38  Knife           -0.789         0.923          1.349          0              0              0              88
  39  Mug             0.704          0.121          2.120          0              0              0              62
  40  Bowl            -2.851         0.821          3.479          0              0              0              70
  41  Drawer          0.729          0.703          2.199          0              0              0
  42  Cabinet         -1.962         1.926          3.733          0              0              0
  43  Cabinet         -2.377         2.014          1.058          0              0              0
  44  Drawer          0.729          0.703          2.532          0              0              0
  45  Cabinet         -2.622         1.925          3.733          0              0              0
  46  StoveBurner     0.913          0.843          1.375          0              0              0
  47  CounterTop      0.864          0.858          0.984          0              0              0
  48  Cabinet         -1.976         1.779          3.734          0              0              0
  49  Cabinet         0.580          0.385          0.819          0              0              0
  50  Cabinet         -2.379         1.408          1.677          0              0              0
  51  Cabinet         -0.419         1.703          3.736          0              0              0
  52  CounterTop      0.864          0.858          2.371          0              0              0
  53  Sink            -1.702         0.726          3.828          0              180            0
  54  Cabinet         0.580          0.385          2.694          0              0              0
  55  Cabinet         -2.379         0.637          1.677          0              0              0
  56  Cabinet         -0.419         0.674          3.736          0              0              0
  57  Cabinet         -2.377         2.014          2.558          0              0              0
  58  Drawer          0.729          0.703          0.980          0              0              0
  59  Drawer          -2.114         0.706          3.657          0              0              0
  60  Cabinet         -2.377         1.691          2.572          0              0              0
  61  Cabinet         -2.951         1.925          3.733          0              0              0
  62  Cabinet         0.580          0.385          2.360          0              0              0
  63  Cabinet         -2.426         0.435          3.421          0              0              0
  64  StoveBurner     0.642          0.843          1.375          0              0              0
  65  Cabinet         -2.377         1.927          1.686          0              0              0
  66  Cabinet         -2.377         2.013          3.177          0              0              0
  67  Cabinet         -1.136         0.385          3.516          0              0              0
  68  StoveBurner     0.913          0.843          1.768          0              0              0
  69  Cabinet         -1.974         0.385          3.516          0              0              0
  70  CounterTop      -2.081         0.858          3.799          0              0              0
  71  Cabinet         -2.426         0.435          3.174          0              0              0
  72  Cabinet         -2.377         2.014          1.693          0              0              0
  73  Cabinet         -1.986         0.385          3.511          0              0              0
  74  StoveBurner     0.642          0.843          1.768          0              0              0
  75  Cabinet         -1.098         1.926          3.729          0              0              0
  76  Microwave       -1.529         1.250          3.881          1.622          180            0
  77  CoffeeMachine   1.000          0.812          2.492          0              270            0
  78  LightSwitch     0.825          1.396          4.082          0              180            0
  79  Fridge          -2.642         0.0            2.134          0              180            0
  80  Window          -1.131         1.673          0.808          90             0              0
  81  GarbageCan      0.931          -0.000         2.918          0              0              0
  82  SinkBasin       -1.601         0.686          3.774          0              0              0
  83  StoveKnob       1.104          1.002          1.886          0              0              70.346
  84  StoveKnob       1.104          1.002          1.733          0              0              70.346
  85  StoveKnob       1.104          1.002          1.321          0              0              70.346
  86  StoveKnob       1.104          1.002          1.481          0              0              70.346
  87  Toaster         -2.247         0.812          3.862          0              180            0
  88  DiningTable     -0.917         -0.000         1.203          0              0              0
  89  Stool           -0.932         0.000          1.404          1.196          21.715         0
  90  Faucet          -1.842         0.809          3.984          0              180            0
  91  Faucet          -1.371         0.809          3.985          0              180            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn to the left and face the white table on the right.  | STEP 2: Pick up the spoon from the left side of the table. | STEP 3: Carry the spoon and turn left. Turn right to locate the sink. | STEP 4: Place the spoon in the left side sink and turn on the water. Turn off the water and pick up the spoon. | STEP 5: Carry the spoon and turn to the left to find the trash can. | STEP 6: Open the top drawer of the cabinet, and place the spoon inside. Shut the drawer. | END