Task: Put a clean 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           -2.0           0.900          2.0            0              0              0
   1  Potato          -2.461         1.038          2.333          0              90             0              80
   2  DishSponge      0.725          0.822          0.939          0              0              0              48
   3  Pot             0.913          0.850          1.375          0              0              0              47
   4  Spoon           0.950          0.824          0.984          0              0              0              48
   5  Fork            0.736          0.692          2.496          0              90             0              45
   6  Fork            0.635          0.692          2.568          0              270            0              45
   7  Egg             -1.053         0.936          1.349          0              90             0              89
   8  Egg             -2.851         0.859          3.554          0              0              0              71
   9  Cup             -0.524         0.900          1.143          0              90             0              89
  10  Cup             -2.707         0.822          3.479          0              0              0              71
  11  SoapBottle      -1.317         0.900          1.246          0              0              0              89
  12  SoapBottle      -0.921         0.900          1.452          0              90             0              89
  13  Tomato          -2.710         1.476          2.389          0              90             0              80
  14  Tomato          -2.694         1.064          2.165          0              90             0              80
  15  Bowl            -1.767         0.126          3.713          0              0              0              70
  16  PepperShaker    0.781          0.121          0.903          0              0              0              48
  17  SaltShaker      -2.868         0.819          4.022          0              0              0              71
  18  SaltShaker      0.650          0.819          2.631          0              0              0              53
  19  Apple           0.873          0.085          2.918          0              0              0              82
  20  Plate           -2.541         1.637          2.722          0              0              0              61
  21  Fork            0.737          0.692          2.235          0              270            0              42
  22  Bread           0.828          0.861          2.449          0              0              0              48
  23  Spatula         1.099          0.838          2.458          0              90             0              53
  24  PaperTowelRoll  0.725          0.927          2.631          0              90             0              53
  25  Potato          -0.524         0.943          1.555          0              90             0              89
  26  SoapBottle      -1.343         0.127          3.636          0              0              0              68
  27  Egg             -2.403         0.803          2.446          0              90             0              80
  28  Cup             -1.185         0.900          1.452          0              90             0              89
  29  Pot             0.913          0.850          1.768          0              0              0              69
  30  SaltShaker      -1.411         1.679          3.936          0              0              0              76
  31  Pan             -2.667         0.812          3.74           0              137.145        0              71
  32  PepperShaker    -1.336         0.819          3.545          0              0              0              71
  33  ButterKnife     1.011          0.813          2.372          0              0              0              53
  34  Tomato          -1.317         0.969          1.143          0              90             0              89
  35  DishSponge      -2.143         0.698          3.665          0              0              0              60
  36  Lettuce         -0.524         0.976          0.937          0              90             0              89
  37  Spoon           -0.657         0.901          1.246          0              180            0              89
  38  Apple           -0.921         0.961          1.246          0              90             0              89
  39  Knife           -1.457         0.846          3.524          0              0              0              71
  40  Mug             -1.109         0.940          1.203          0              0              0              89
  41  Bowl            -2.694         0.765          2.333          0              90             0              80
  42  Drawer          0.729          0.703          2.199          0              0              0
  43  Cabinet         -1.962         1.926          3.733          0              0              0
  44  Cabinet         -2.377         2.014          1.058          0              0              0
  45  Drawer          0.729          0.703          2.532          0              0              0
  46  Cabinet         -2.622         1.925          3.733          0              0              0
  47  StoveBurner     0.913          0.843          1.375          0              0              0
  48  CounterTop      0.864          0.858          0.984          0              0              0
  49  Cabinet         -1.976         1.779          3.734          0              0              0
  50  Cabinet         0.580          0.385          0.819          0              0              0
  51  Cabinet         -2.379         1.408          1.677          0              0              0
  52  Cabinet         -0.419         1.703          3.736          0              0              0
  53  CounterTop      0.864          0.858          2.371          0              0              0
  54  Sink            -1.702         0.726          3.828          0              180            0
  55  Cabinet         0.580          0.385          2.694          0              0              0
  56  Cabinet         -2.379         0.637          1.677          0              0              0
  57  Cabinet         -0.419         0.674          3.736          0              0              0
  58  Cabinet         -2.377         2.014          2.558          0              0              0
  59  Drawer          0.729          0.703          0.980          0              0              0
  60  Drawer          -2.114         0.706          3.657          0              0              0
  61  Cabinet         -2.377         1.691          2.572          0              0              0
  62  Cabinet         -2.951         1.925          3.733          0              0              0
  63  Cabinet         0.580          0.385          2.360          0              0              0
  64  Cabinet         -2.426         0.435          3.421          0              0              0
  65  StoveBurner     0.642          0.843          1.375          0              0              0
  66  Cabinet         -2.377         1.927          1.686          0              0              0
  67  Cabinet         -2.377         2.013          3.177          0              0              0
  68  Cabinet         -1.136         0.385          3.516          0              0              0
  69  StoveBurner     0.913          0.843          1.768          0              0              0
  70  Cabinet         -1.974         0.385          3.516          0              0              0
  71  CounterTop      -2.081         0.858          3.799          0              0              0
  72  Cabinet         -2.426         0.435          3.174          0              0              0
  73  Cabinet         -2.377         2.014          1.693          0              0              0
  74  Cabinet         -1.986         0.385          3.511          0              0              0
  75  StoveBurner     0.642          0.843          1.768          0              0              0
  76  Cabinet         -1.098         1.926          3.729          0              0              0
  77  Microwave       -1.529         1.250          3.881          1.622          180            0
  78  CoffeeMachine   1.000          0.812          2.492          0              270            0
  79  LightSwitch     0.825          1.396          4.082          0              180            0
  80  Fridge          -2.642         0.0            2.134          0              180            0
  81  Window          -1.131         1.673          0.808          90             0              0
  82  GarbageCan      0.931          -0.000         2.918          0              0              0
  83  SinkBasin       -1.601         0.686          3.774          0              0              0
  84  StoveKnob       1.104          1.002          1.886          0              0              70.346
  85  StoveKnob       1.104          1.002          1.733          0              0              70.346
  86  StoveKnob       1.104          1.002          1.321          0              0              70.346
  87  StoveKnob       1.104          1.002          1.481          0              0              70.346
  88  Toaster         -2.247         0.812          3.862          0              180            0
  89  DiningTable     -0.917         -0.000         1.203          0              0              0
  90  Stool           -0.932         0.000          1.404          1.196          21.715         0
  91  Faucet          -1.842         0.809          3.984          0              180            0
  92  Faucet          -1.371         0.809          3.985          0              180            0
  93  NorthWall
  94  EastWall
  95  SouthWall
  96  WestWall

Plan:
STEP 1: Turn right and go forward toward the stove, then turn right step forward and turn right again to face the white table. | STEP 2: Pick up the spoon on the white table. | STEP 3: Turn right, then turn left and go around the white table to go toward the fridge, then turn right to go to the sink. | STEP 4: Wash the spoon in the sink. | STEP 5: Turn around, then turn left to go toward the counter next to the trash bin. | STEP 6: Put the spoon in the drawer beneath the counter. | END