Task: Put the washed spoon in the kitchen drawer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.900          2.75           0              90             0
   1  Potato          -1.102         1.069          1.519          0              0              0              59
   2  Potato          -0.669         1.069          0.877          0              0              0              59
   3  WineBottle      -0.809         0.330          -0.738         0              90             0              100
   4  Glassbottle     -0.858         0.335          -0.295         0              90             0              100
   5  Spatula         2.509          1.041          1.401          0              136.999        0              56
   6  Spatula         2.058          1.041          2.096          0              317.0          0              56
   7  Spoon           -0.851         0.817          1.259          0              180            0              113
   8  Spoon           2.100          0.765          3.895          0              270            0              57
   9  Fork            2.376          0.765          3.445          0              0              0              57
  10  Fork            -0.544         1.028          0.323          0              0              0              59
  11  Egg             -0.851         0.860          1.337          0              90             0              113
  12  Egg             -0.714         0.860          1.103          0              90             0              113
  13  Plate           1.668          2.280          -1.912         0              0              0              72
  14  Knife           1.925          0.789          3.969          0              270            0              57
  15  Knife           -0.669         1.052          1.821          0              0              0              59
  16  Tomato          2.597          0.818          3.418          0              329.999        0              57
  17  Tomato          -0.987         0.839          -0.738         0              90             0              100
  18  SoapBottle      -0.946         1.779          1.917          0              0              0              73
  19  Bowl            -1.028         0.784          -0.184         0              90             0              100
  20  SaltShaker      1.183          1.777          -1.911         0              0              0              96
  21  SaltShaker      2.707          0.797          -0.129         0              0              0              66
  22  PepperShaker    1.853          0.798          1.466          0              317.0          0              71
  23  Bread           2.605          0.832          4.334          0              225            0              57
  24  Lettuce         -0.577         0.874          1.259          0              90             0              113
  25  Lettuce         -0.968         1.500          -0.406         0              90             0              100
  26  Mug             -0.803         1.070          0.646          0              90             0              109
  27  Apple           -0.831         1.492          -0.738         0              90             0              100
  28  Pan             2.116          1.027          -1.84          0              270            0              60
  29  Glassbottle     -1.013         1.442          -0.184         0              90             0              100
  30  Knife           2.275          0.789          4.118          0              270            0              57
  31  SoapBottle      -1.060         1.780          0.679          0              0              0              74
  32  Egg             -0.645         0.860          1.414          0              90             0              113
  33  Fork            2.268          0.765          3.892          0              225            0              57
  34  Potato          2.074          0.806          4.176          0              329.999        0              57
  35  Ladle           2.331          0.803          4.325          0              329.999        0              57
  36  Tomato          -0.851         0.870          1.492          0              90             0              113
  37  Pot             2.177          1.027          -1.599         0              0              0              55
  38  WineBottle      -0.360         1.028          1.356          0              0              0              59
  39  Plate           2.568          1.781          -1.833         0              0              0              84
  40  Spatula         2.450          0.779          4.118          0              270            0              57
  41  PaperTowelRoll  2.451          0.868          3.747          0              270            0              57
  42  Lettuce         1.926          0.822          3.747          0              270            0              57
  43  Apple           -0.809         0.379          -0.627         0              90             0              100
  44  SaltShaker      2.187          0.798          1.400          0              317.0          0              69
  45  PepperShaker    -0.942         2.286          -0.029         0              0              0              87
  46  ButterKnife     2.959          1.026          -1.456         0              0              0              56
  47  Bread           2.626          0.832          3.895          0              270            0              57
  48  Cup             -0.906         1.780          1.421          0              0              0              90
  49  DishSponge      -0.660         0.800          1.953          0              0              0              61
  50  Bowl            2.265          1.025          1.452          0              136.999        0              56
  51  Spoon           2.815          0.765          4.124          0              225            0              57
  52  Mug             -0.877         1.437          -0.627         0              90             0              100
  53  Sink            -0.716         1.023          1.333          0              0              0
  54  StoveBurner     1.835          1.018          -1.840         0              90             0
  55  StoveBurner     2.177          1.018          -1.599         0              0              0
  56  CounterTop      2.812          0.992          0.675          0              0              0
  57  DiningTable     2.419          0.003          3.930          0              0              0
  58  Drawer          -0.643         0.828          0.616          0              0              0
  59  CounterTop      -0.813         1.062          2.188          0              0              0
  60  StoveBurner     2.115          1.018          -1.840         0              270            0
  61  Drawer          -0.643         0.831          1.953          0              0              0
  62  Drawer          -0.643         0.833          2.418          0              0              0
  63  Drawer          1.347          0.836          -1.539         0              0              0
  64  Drawer          2.693          0.833          -1.131         0              0              0
  65  Drawer          2.693          0.833          -0.699         0              0              0
  66  Drawer          2.693          0.833          -0.267         0              0              0
  67  Drawer          2.693          0.833          0.163          0              0              0
  68  Drawer          2.524          0.833          0.720          0              2.000          0
  69  Drawer          2.232          0.833          1.036          0              2.000          0
  70  Drawer          1.936          0.833          1.354          0              2.000          0
  71  Drawer          1.646          0.833          1.670          0              2.000          0
  72  Cabinet         1.504          2.475          -1.710         0              0              0
  73  Cabinet         -0.823         2.220          1.621          0              0              0
  74  Cabinet         -0.823         2.220          0.615          0              0              0
  75  Cabinet         1.136          0.388          -1.355         0              0              0
  76  Cabinet         -0.356         0.383          2.626          0              0              0
  77  Cabinet         2.745          2.220          -1.690         0              0              0
  78  Cabinet         1.882          0.383          1.017          0              0              0
  79  Cabinet         1.307          0.473          1.640          0              0              0
  80  Cabinet         1.892          0.383          1.006          0              0              0
  81  Cabinet         2.467          0.383          0.383          0              0              0
  82  Cabinet         2.466          0.383          -0.475         0              0              0
  83  Cabinet         2.466          0.473          0.371          0              0              0
  84  Cabinet         2.386          2.475          -1.710         0              0              0
  85  Cabinet         -0.356         0.383          1.712          0              0              0
  86  Cabinet         2.745          2.220          0.019          0              0              0
  87  Cabinet         -0.663         2.496          0.157          0              0              0
  88  Cabinet         -0.663         2.496          -0.868         0              0              0
  89  Cabinet         -0.356         0.383          0.269          0              0              0
  90  Cabinet         -0.823         2.220          1.603          0              0              0
  91  Cabinet         -0.662         2.234          0.586          0              0              0
  92  Cabinet         2.745          2.220          -0.843         0              0              0
  93  Cabinet         2.745          2.220          -0.827         0              0              0
  94  Cabinet         -0.823         2.220          2.608          0              0              0
  95  Cabinet         2.732          2.226          -1.709         0              0              0
  96  Cabinet         1.137          2.226          -1.709         0              0              0
  97  Cabinet         2.466          0.383          -0.491         0              0              0
  98  Cabinet         2.466          0.383          -1.339         0              0              0
  99  StoveBurner     1.761          1.018          -1.599         0              0              0
 100  Fridge          -0.908         0.0            -0.405         0              0              0
 101  HousePlant      2.517          1.016          1.822          0              0              0
 102  Microwave       1.939          1.745          -1.826         0              0              0
 103  StoveKnob       2.017          1.041          -1.514         0              180            180
 104  StoveKnob       1.934          1.041          -1.514         0              180            180
 105  StoveKnob       2.017          1.041          -1.589         0              180            180
 106  StoveKnob       1.934          1.041          -1.589         0              180            180
 107  Window          1.756          1.608          4.762          90             0              0
 108  HousePlant      2.171          1.004          2.091          0              0              0
 109  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 110  LightSwitch     -0.099         1.410          -2.066         0              0              0
 111  GarbageCan      -0.951         -0.029         2.826          0              0              0
 112  Toaster         -1.007         1.018          2.238          0              90             0
 113  SinkBasin       -0.714         0.805          1.348          0              90             0
 114  Chair           1.615          0.004          4.310          0              107.976        0
 115  Faucet          -1.120         1.013          1.334          0              90             0
 116  Chair           2.759          0.004          3.086          0              358.967        0
 117
 118  NorthWall
 119  EastWall
 120  SouthWall
 121  WestWall

Plan:
STEP 1: Turn left and walk up to the round white table | STEP 2: Pick up the large spoon with a black handle from the table | STEP 3: Turn around and walk forward then turn right and approach the sink | STEP 4: Wash the spoon under water in the sink then remove it | STEP 5: Turn around and walk across to the kitchen counter | STEP 6: Open the top drawer second from left and put the spoon in it | END