Task: wash the spoon in the sink, put the spoon 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           2.5            0.930          -0.5           0              90             0
   1  Potato          3.152          0.785          -0.100         0              90             0              108
   2  Potato          0.773          1.286          -1.559         0              0              0              109
   3  ButterKnife     -0.868         0.706          -0.186         0              0              0              70
   4  ButterKnife     -0.192         0.900          -1.542         0              225            0              84
   5  Glassbottle     0.856          1.675          -1.550         0              0              0              78
   6  Glassbottle     3.197          0.177          0.489          0              0              0              72
   7  Kettle          0.012          0.901          -1.337         0              45             0              84
   8  Pot             3.031          1.464          -1.235         0              270            0              77
   9  Spatula         3.152          0.762          0.032          0              0              0              108
  10  Spatula         -0.868         0.721          0.926          0              270            0              67
  11  Spoon           0.669          0.912          0.535          0              36.810         0              94
  12  Spoon           3.044          0.901          -0.599         0              0              0              62
  13  Fork            -0.991         0.327          1.255          0              90             0              98
  14  Fork            0.710          0.911          0.426          0              0              0              94
  15  CellPhone       -0.706         0.325          -0.682         0              45             0              96
  16  Bread           0.494          0.989          0.301          0              36.810         0              94
  17  Bread           -1.008         0.979          0.623          0              0              0              63
  18  Bowl            3.028          0.172          -0.828         0              0              0              75
  19  Tomato          3.074          0.137          1.600          0              225            0              104
  20  Tomato          3.028          0.784          -0.100         0              90             0              108
  21  Cup             -1.018         0.995          1.311          0              90             0              111
  22  Cup             1.491          0.905          0.889          0              0              0              94
  23  Plate           0.967          0.921          0.605          0              0              0              94
  24  Plate           3.200          0.913          -0.798         0              0              0              62
  25  Glassbottle     0.151          0.901          -1.476         0              45             0              84
  26  SoapBottle      -0.274         1.272          -1.510         0              45             0              80
  27  Potato          -1.119         1.036          1.417          0              90             0              111
  28  Fork            -0.964         0.900          -0.667         0              225            0              63
  29  Ladle           1.360          0.945          0.464          0              0              0              94
  30  Pot             0.423          0.900          0.869          0              0              0              94
  31  Kettle          -0.420         0.902          -0.920         0              135            0              58
  32  Spatula         3.393          0.915          -0.151         0              90             0              62
  33  Knife           -0.991         0.543          0.751          0              90             0              60
  34  Lettuce         0.840          0.765          -1.422         27.470         0              0              109
  35  Cup             1.008          1.245          -1.475         0              0              0              109
  36  SaltShaker      -0.705         0.703          -0.634         0              45             0              57
  37  Egg             0.851          1.126          -1.531         0              0              0              109
  38  PepperShaker    -0.745         0.514          0.576          0              0              0              60
  39  ButterKnife     -0.868         0.326          0.664          0              0              0              64
  40  Apple           1.086          0.785          -1.381         0              0              0              109
  41  Pan             -0.789         0.899          0.399          0              0              0              63
  42  Bread           -0.935         0.979          -0.047         0              0              0              63
  43  CellPhone       -0.950         0.515          -0.098         0              0              0              90
  44  DishSponge      -0.731         0.899          -0.489         0              45             0              63
  45  Tomato          -0.675         0.937          -0.753         0              45             0              63
  46  Spoon           3.277          0.901          -0.499         0              0              0              62
  47  Bowl            0.836          0.905          0.322          0              0              0              94
  48  Mug             1.164          0.881          -1.531         0              90             0              109
  49  Drawer          0.376          0.572          -1.509         0              0              0
  50  Drawer          3.020          0.769          -0.783         0              180            0
  51  Drawer          -0.860         0.577          1.429          0              0              0
  52  StoveBurner     -0.600         0.897          -1.090         0              135            0
  53  Drawer          0.376          0.191          -1.509         0              0              0
  54  Cabinet         1.402          1.874          -1.259         0              0              0
  55  Cabinet         -0.202         1.963          -1.328         0              0              0
  56  Drawer          -0.860         0.765          1.429          0              0              0
  57  Drawer          -0.677         0.765          -0.700         0              0              0
  58  StoveBurner     -0.420         0.897          -0.920         0              135            0
  59  Drawer          3.020          0.769          -0.407         0              180            0
  60  Drawer          -0.860         0.577          0.663          0              0              0
  61  Cabinet         2.819          1.768          -1.850         0              0              0
  62  CounterTop      3.111          0.936          0.019          0              0              0
  63  CounterTop      -1.007         0.935          -0.039         0              0              0
  64  Drawer          -0.860         0.385          0.663          0              0              0
  65  StoveBurner     -0.419         0.897          -1.269         0              315            0
  66  Drawer          -0.047         0.573          -1.324         0              0              0
  67  Drawer          -0.860         0.765          0.663          0              0              0
  68  Drawer          -0.860         0.385          -0.100         0              0              0
  69  Drawer          0.376          0.380          -1.509         0              0              0
  70  Drawer          -0.860         0.765          -0.100         0              0              0
  71  Drawer          0.376          0.765          -1.509         0              0              0
  72  Cabinet         2.849          0.419          0.409          0              0              0
  73  Drawer          -0.047         0.765          -1.324         0              0              0
  74  Cabinet         2.849          0.419          -0.610         0              0              0
  75  Cabinet         2.849          0.419          -0.959         0              0              0
  76  Cabinet         3.069          1.666          -0.709         0              0              0
  77  Cabinet         2.819          1.768          -1.047         0              0              0
  78  Cabinet         0.620          1.874          -1.259         0              0              0
  79  Cabinet         0.140          1.666          -1.559         0              0              0
  80  Cabinet         -0.189         1.666          -1.340         0              0              0
  81  Cabinet         -0.709         1.963          -0.819         0              0              0
  82  Cabinet         -0.920         1.665          -0.620         0              0              0
  83  Drawer          -0.860         0.190          -0.100         0              0              0
  84  CounterTop      0.133          0.935          -1.457         0              0              0
  85  Drawer          3.020          0.769          0.695          0              180            0
  86  Drawer          -0.677         0.577          -0.700         0              0              0
  87  Drawer          -0.860         0.190          1.429          0              0              0
  88  Drawer          -0.047         0.192          -1.324         0              0              0
  89  Drawer          -0.677         0.193          -0.700         0              0              0
  90  Drawer          -0.860         0.577          -0.100         0              0              0
  91  Sink            3.078          0.887          0.086          0              0              0
  92  StoveBurner     -0.239         0.897          -1.089         0              315            0
  93  Drawer          -0.860         0.190          0.663          0              0              0
  94  CounterTop      1.210          0.937          0.463          0              0              0
  95  Drawer          -0.047         0.381          -1.324         0              0              0
  96  Drawer          -0.677         0.387          -0.700         0              0              0
  97  Mirror          -1.295         1.630          0.045          0              0              0
  98  Drawer          -0.860         0.385          1.429          0              0              0
  99  HousePlant      3.196          0.891          -0.368         0              0              0
 100  StoveKnob       -0.090         0.790          -1.009         270            45             0
 101  StoveKnob       -0.280         0.790          -0.819         270            45             0
 102  StoveKnob       -0.180         0.790          -0.920         270            45             0
 103  StoveKnob       -0.370         0.790          -0.720         270            45             0
 104  GarbageCan      3.137          0.025          1.545          0              225            0
 105  Window          3.703          1.675          0.046          90             90             0
 106  CoffeeMachine   3.214          0.890          0.697          0              270            0
 107  LightSwitch     2.592          1.309          -1.880         0              0              0
 108  SinkBasin       3.069          0.736          0.108          0              90             0
 109  Fridge          1.008          0.029          -1.467         0              0              0
 110  Toaster         -1.035         0.873          -0.396         0              90             0
 111  Microwave       -1.034         0.874          1.428          0              90             0
 112  Faucet          3.305          0.886          0.094          270            180            0
 113  NorthWall
 114  EastWall
 115  SouthWall
 116  WestWall

Plan:
STEP 1: turn left, walk to the counter on the left | STEP 2: grab the spoon on the counter | STEP 3: turn around to the sink | STEP 4: put the spoon in the sink, wash the spoon, take the spoon | STEP 5: turn around, turn around | STEP 6: open the first drawer on the right, put the spoon in, close the drawer | END