Task: Place a clean ice cream scoop in 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           0.901          0.75           0              0              0
   1  WineBottle      1.840          0.939          0.731          0              0              0              66
   2  DishSponge      -0.033         0.746          2.129          0              0              0              54
   3  ButterKnife     -0.119         0.791          1.217          0              0              0              82
   4  ButterKnife     1.920          0.937          1.964          0              0              0              55
   5  Spatula         -0.425         0.805          1.217          0              270            0              82
   6  Spoon           1.673          0.938          2.666          0              0              0              55
   7  Spoon           0.002          0.747          2.197          0              0              0              54
   8  Fork            -0.349         0.782          0.713          0              0              0              82
   9  Cup             0.033          0.789          1.049          0              0              0              82
  10  Plate           1.925          0.086          1.986          0              0              0              51
  11  SoapBottle      2.167          1.502          2.104          0              0              0              58
  12  SoapBottle      -0.042         0.791          1.386          0              0              0              82
  13  Tomato          0.033          0.837          0.377          0              0              0              82
  14  Tomato          1.986          0.384          -0.279         0              270            0              76
  15  Bowl            2.227          0.934          2.162          0              0              0              55
  16  Bowl            2.059          0.335          -0.007         0              270            0              76
  17  SaltShaker      -0.196         0.785          1.049          0              0              0              82
  18  SaltShaker      -0.053         0.932          2.827          0              0              0              55
  19  PepperShaker    0.033          0.785          0.713          0              90             0              82
  20  PepperShaker    -0.042         0.785          0.713          0              0              0              82
  21  Mug             -0.294         1.030          2.121          0              90             0              80
  22  Apple           -0.395         1.085          2.014          0              90             0              80
  23  Apple           1.276          0.845          2.584          0              0              0              79
  24  Egg             -0.327         0.079          -0.769         0              90             0              77
  25  Lettuce         0.277          0.989          2.611          0              60.216         0              55
  26  Fork            1.815          0.746          1.922          0              90             0              70
  27  SoapBottle      1.846          0.083          0.442          0              180            0              52
  28  Ladle           -0.282         0.982          2.618          0              0              0              55
  29  Ladle           -0.349         0.835          1.386          0              0              0              82
  30  Bread           -0.192         0.823          0.837          0              1.133          357.342        82
  31  SaltShaker      -0.118         0.932          2.478          0              180            0              55
  32  Potato          2.076          1.559          -0.097         0              270            0              76
  33  Pan             2.140          0.935          1.504          0              180            0              50
  34  WineBottle      0.288          0.938          2.897          0              0              0              55
  35  Spatula         1.065          0.810          2.695          0              270            0              79
  36  Knife           1.802          0.772          0.583          0              90             0              64
  37  Tomato          0.060          0.983          2.827          0              0              0              55
  38  Apple           2.225          0.988          0.806          0              0              0              66
  39  ButterKnife     1.917          0.938          0.361          0              180            0              66
  40  Pot             1.854          0.937          1.497          0              0              0              59
  41  PepperShaker    2.282          1.496          1.869          0              0              0              58
  42  Cup             2.116          0.859          -0.007         0              270            0              76
  43  DishSponge      0.033          0.790          0.881          0              0              0              82
  44  Plate           -0.312         0.781          0.409          0              0              0              82
  45  Spoon           -0.042         0.792          1.049          0              0              0              82
  46  Mug             2.064          0.989          2.462          0              225            0              81
  47  Bowl            -0.042         0.787          0.545          0              0              0              82
  48  Cabinet         2.041          2.113          2.618          0              0              0
  49  Cabinet         0.126          0.388          1.774          0              0              0
  50  StoveBurner     2.140          0.929          1.504          0              180            0
  51  Cabinet         1.760          0.388          2.346          0              0              0
  52  Cabinet         1.760          0.388          0.869          0              0              0
  53  Cabinet         2.041          1.810          0.283          0              0              0
  54  Drawer          -0.024         0.774          2.061          0              0              0
  55  CounterTop      1.065          0.973          2.666          0              0              0
  56  Cabinet         1.969          2.113          2.618          0              0              0
  57  StoveBurner     2.140          0.929          1.106          0              0              0
  58  Cabinet         2.041          2.113          1.809          0              0              0
  59  StoveBurner     1.866          0.929          1.504          0              180            0
  60  Cabinet         2.041          2.113          1.766          0              0              0
  61  Cabinet         1.514          0.388          2.360          0              0              0
  62  Cabinet         0.351          0.388          2.360          0              0              0
  63  Cabinet         2.041          1.810          0.872          0              0              0
  64  Drawer          2.167          0.774          0.582          0              0              0
  65  Cabinet         2.041          2.113          0.892          0              0              0
  66  CounterTop      2.060          0.973          0.583          0              0              0
  67  Sink            0.935          0.936          2.646          0              0              0
  68  Curtains        0.964          2.061          2.989          0              0              0
  69  StoveBurner     1.863          0.929          1.106          0              0              0
  70  Drawer          1.911          0.774          2.060          0              0              0
  71  StoveKnob       2.326          1.092          1.610          288.013        90             0
  72  StoveKnob       2.326          1.092          1.460          288.013        90             0
  73  StoveKnob       2.326          1.092          1.210          288.013        90             0
  74  StoveKnob       2.326          1.092          1.050          288.013        90             0
  75  Toaster         2.126          0.926          0.572          0              270            0
  76  Fridge          2.104          0.0            -0.279         0              270            0
  77  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  78  LightSwitch     0.354          1.518          -1.031         0              0              0
  79  SinkBasin       0.903          0.784          2.640          0              0              0
  80  Microwave       -0.310         0.926          2.077          0              90             0
  81  CoffeeMachine   2.084          0.927          2.667          0              225            0
  82  DiningTable     -0.153         -0.000         1.073          0              270            0
  83  Faucet          1.175          0.926          2.950          270            90             0
  84  Faucet          0.686          0.926          2.950          270            90             0
  85  Chair           -0.077         0.002          0.196          0              15.000         0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Walk forward until you hit the counter then turn left and walk to the microwave so you are facing it. | STEP 2: Pick up the ice cream scoop with the green handle. | STEP 3: Turn around and make it so you are facing the sink near the center of the sink. | STEP 4: Wash the scoop in the right hand sink and pick it up again. | STEP 5: Turn left and walk to the microwave again. | STEP 6: Open the drawer under the top of the counter and place the scoop in it before closing the drawer. | END