Task: clean a spoon to put it in the drawer below the microwave

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           0.901          -0.5           0              0              0
   1  Potato          2.301          0.978          0.361          0              180            0              58
   2  Ladle           1.976          0.790          0.446          0              90             0              56
   3  DishSponge      2.241          1.503          0.388          0              0              0              45
   4  DishSponge      1.941          0.746          0.721          0              0              0              56
   5  ButterKnife     -0.272         0.791          1.217          0              0              0              74
   6  Fork            1.917          0.938          0.435          0              0              0              58
   7  Egg             -0.425         0.833          0.713          0              0              0              74
   8  Knife           1.872          0.772          0.446          0              90             0              56
   9  Bowl            2.250          0.599          -0.369         0              270            0              68
  10  PepperShaker    1.844          0.932          2.359          0              0              0              47
  11  PepperShaker    0.708          0.076          2.523          0              0              0              54
  12  Lettuce         -0.053         0.999          2.827          0              0              0              47
  13  Lettuce         -0.282         0.999          2.757          0              0              0              47
  14  Mug             2.206          1.496          2.337          0              0              0              40
  15  Apple           -0.196         0.840          1.386          0              0              0              74
  16  Egg             2.168          1.365          -0.188         0              270            0              68
  17  Lettuce         0.277          0.989          2.611          0              60.216         0              47
  18  Fork            -0.042         0.791          1.049          0              0              0              74
  19  SoapBottle      1.790          0.938          2.821          0              0              0              47
  20  Ladle           1.884          0.791          1.922          0              90             0              62
  21  Ladle           1.887          0.126          1.915          0              90             0              43
  22  Bread           -0.199         0.823          0.813          0              0              0              74
  23  SaltShaker      2.127          1.498          0.388          0              0              0              45
  24  Potato          2.112          1.361          -0.007         0              270            0              68
  25  Pan             2.140          0.935          1.106          0              0              0              49
  26  WineBottle      -0.196         0.791          0.377          0              0              0              74
  27  Spatula         0.002          0.761          1.925          0              90             0              46
  28  Knife           1.802          0.771          0.583          0              90             0              56
  29  Tomato          2.096          0.384          -0.369         0              270            0              68
  30  Apple           2.096          0.388          -0.188         0              270            0              68
  31  ButterKnife     -0.042         0.791          1.386          0              0              0              74
  32  Pot             1.854          0.937          1.497          0              0              0              51
  33  PepperShaker    1.844          0.932          1.866          0              0              0              47
  34  Cup             -0.115         0.079          1.857          0              0              0              41
  35  DishSponge      0.779          0.080          2.445          0              0              0              54
  36  Plate           1.923          0.086          0.653          0              0              0              44
  37  Spoon           -0.138         0.747          1.993          0              90             0              46
  38  Mug             2.064          0.989          2.462          0              225            0              73
  39  Bowl            -0.362         1.032          2.014          0              90             0              72
  40  Cabinet         2.041          2.113          2.618          0              0              0
  41  Cabinet         0.126          0.388          1.774          0              0              0
  42  StoveBurner     2.140          0.929          1.504          0              180            0
  43  Cabinet         1.760          0.388          2.346          0              0              0
  44  Cabinet         1.760          0.388          0.869          0              0              0
  45  Cabinet         2.041          1.810          0.283          0              0              0
  46  Drawer          -0.024         0.774          2.061          0              0              0
  47  CounterTop      1.065          0.973          2.666          0              0              0
  48  Cabinet         1.969          2.113          2.618          0              0              0
  49  StoveBurner     2.140          0.929          1.106          0              0              0
  50  Cabinet         2.041          2.113          1.809          0              0              0
  51  StoveBurner     1.866          0.929          1.504          0              180            0
  52  Cabinet         2.041          2.113          1.766          0              0              0
  53  Cabinet         1.514          0.388          2.360          0              0              0
  54  Cabinet         0.351          0.388          2.360          0              0              0
  55  Cabinet         2.041          1.810          0.872          0              0              0
  56  Drawer          2.167          0.774          0.582          0              0              0
  57  Cabinet         2.041          2.113          0.892          0              0              0
  58  CounterTop      2.060          0.973          0.583          0              0              0
  59  Sink            0.935          0.936          2.646          0              0              0
  60  Curtains        0.964          2.061          2.989          0              0              0
  61  StoveBurner     1.863          0.929          1.106          0              0              0
  62  Drawer          1.911          0.774          2.060          0              0              0
  63  StoveKnob       2.326          1.092          1.610          288.013        90             0
  64  StoveKnob       2.326          1.092          1.460          288.013        90             0
  65  StoveKnob       2.326          1.092          1.210          288.013        90             0
  66  StoveKnob       2.326          1.092          1.050          288.013        90             0
  67  Toaster         2.126          0.926          0.572          0              270            0
  68  Fridge          2.104          0.0            -0.279         0              270            0
  69  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  70  LightSwitch     0.354          1.518          -1.031         0              0              0
  71  SinkBasin       0.903          0.784          2.640          0              0              0
  72  Microwave       -0.310         0.926          2.077          0              90             0
  73  CoffeeMachine   2.084          0.927          2.667          0              225            0
  74  DiningTable     -0.153         -0.000         1.073          0              270            0
  75  Faucet          1.175          0.926          2.950          270            90             0
  76  Faucet          0.686          0.926          2.950          270            90             0
  77  Chair           -0.077         0.002          0.196          0              15.000         0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: head over to the kitchen counter left of the stove | STEP 2: grab a spoon from the drawer beneath the counter | STEP 3: take the spoon over to the sink | STEP 4: clean the spoon inside the sink and then pick it back up again | STEP 5: walk over to the microwave while holding the spoon | STEP 6: open the drawer below the microwave and put the spoon in it | END