Task: drop 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           1.5            0.930          -0.75          0              90             0
   1  Ladle           0.533          0.945          0.928          0              0              0              93
   2  DishSponge      -0.868         0.325          1.343          0              0              0              97
   3  DishSponge      -0.950         0.325          0.664          0              0              0              63
   4  Glassbottle     1.303          1.675          -1.759         0              0              0              53
   5  Glassbottle     0.836          0.911          0.747          0              0              0              93
   6  CellPhone       3.070          0.709          -0.784         0              180            0              49
   7  CellPhone       2.888          0.898          -0.499         0              0              0              61
   8  Mug             3.084          0.170          -0.259         0              270            0              73
   9  Mug             1.242          1.068          -1.531         0              0              0              108
  10  Apple           0.887          0.981          0.527          0              0              0              93
  11  Lettuce         1.098          0.973          0.605          0              0              0              93
  12  Lettuce         -0.717         0.965          0.399          0              0              0              62
  13  SaltShaker      -0.827         0.702          -0.361         0              0              0              69
  14  Bowl            -0.935         0.897          0.623          0              0              0              62
  15  SoapBottle      -0.862         0.909          0.846          0              0              0              62
  16  Tomato          3.181          0.137          1.492          0              225            0              103
  17  Tomato          1.164          0.750          -1.354         0              0              0              108
  18  Egg             -0.985         1.050          1.311          0              90             0              110
  19  Egg             1.086          0.763          -1.459         0              0              0              108
  20  Plate           0.808          1.687          -1.480         0              0              0              77
  21  Plate           0.608          0.921          0.337          0              36.810         0              93
  22  Knife           3.122          0.926          -0.399         0              0              0              61
  23  Plate           1.208          1.687          -1.550         0              0              0              53
  24  Glassbottle     3.084          0.177          0.700          0              0              0              71
  25  SoapBottle      3.044          1.473          -1.795         0              0              0              60
  26  Potato          -0.826         0.938          -0.904         0              45             0              62
  27  Fork            -0.991         0.326          1.255          0              90             0              97
  28  Ladle           -0.789         0.937          -0.047         0              0              0              62
  29  Pot             -0.420         0.902          -0.920         0              135            0              57
  30  Kettle          -0.136         0.901          -1.393         0              45             0              83
  31  Spatula         -0.827         0.341          0.576          0              90             0              63
  32  Knife           0.836          0.933          0.410          0              36.810         0              93
  33  Lettuce         0.851          1.139          -1.503         0              0              0              108
  34  Cup             -1.085         0.995          1.417          0              90             0              110
  35  SaltShaker      -0.909         0.702          0.664          0              0              0              66
  36  Egg             -1.052         1.050          1.523          0              90             0              110
  37  PepperShaker    -0.717         0.896          -0.494         0              0              0              62
  38  ButterKnife     0.151          0.900          -1.476         0              135            0              83
  39  Apple           0.929          0.785          -1.407         0              0              0              108
  40  Pan             0.341          0.873          -1.649         0              167.065        0              83
  41  Bread           1.534          0.972          0.486          0              289.287        0              93
  42  CellPhone       -0.002         0.897          -1.630         0              45             0              83
  43  DishSponge      -0.909         0.326          1.693          0              0              0              97
  44  Tomato          3.235          0.137          1.6            0              225            0              103
  45  Spoon           2.966          0.901          -0.897         0              90             0              61
  46  Bowl            3.200          0.897          -0.599         0              0              0              61
  47  Mug             0.929          1.242          -1.448         0              0              0              108
  48  Drawer          0.376          0.572          -1.509         0              0              0
  49  Drawer          3.020          0.769          -0.783         0              180            0
  50  Drawer          -0.860         0.577          1.429          0              0              0
  51  StoveBurner     -0.600         0.897          -1.090         0              135            0
  52  Drawer          0.376          0.191          -1.509         0              0              0
  53  Cabinet         1.402          1.874          -1.259         0              0              0
  54  Cabinet         -0.202         1.963          -1.328         0              0              0
  55  Drawer          -0.860         0.765          1.429          0              0              0
  56  Drawer          -0.677         0.765          -0.700         0              0              0
  57  StoveBurner     -0.420         0.897          -0.920         0              135            0
  58  Drawer          3.020          0.769          -0.407         0              180            0
  59  Drawer          -0.860         0.577          0.663          0              0              0
  60  Cabinet         2.819          1.768          -1.850         0              0              0
  61  CounterTop      3.111          0.936          0.019          0              0              0
  62  CounterTop      -1.007         0.935          -0.039         0              0              0
  63  Drawer          -0.860         0.385          0.663          0              0              0
  64  StoveBurner     -0.419         0.897          -1.269         0              315            0
  65  Drawer          -0.047         0.573          -1.324         0              0              0
  66  Drawer          -0.860         0.765          0.663          0              0              0
  67  Drawer          -0.860         0.385          -0.100         0              0              0
  68  Drawer          0.376          0.380          -1.509         0              0              0
  69  Drawer          -0.860         0.765          -0.100         0              0              0
  70  Drawer          0.376          0.765          -1.509         0              0              0
  71  Cabinet         2.849          0.419          0.409          0              0              0
  72  Drawer          -0.047         0.765          -1.324         0              0              0
  73  Cabinet         2.849          0.419          -0.610         0              0              0
  74  Cabinet         2.849          0.419          -0.959         0              0              0
  75  Cabinet         3.069          1.666          -0.709         0              0              0
  76  Cabinet         2.819          1.768          -1.047         0              0              0
  77  Cabinet         0.620          1.874          -1.259         0              0              0
  78  Cabinet         0.140          1.666          -1.559         0              0              0
  79  Cabinet         -0.189         1.666          -1.340         0              0              0
  80  Cabinet         -0.709         1.963          -0.819         0              0              0
  81  Cabinet         -0.920         1.665          -0.620         0              0              0
  82  Drawer          -0.860         0.190          -0.100         0              0              0
  83  CounterTop      0.133          0.935          -1.457         0              0              0
  84  Drawer          3.020          0.769          0.695          0              180            0
  85  Drawer          -0.677         0.577          -0.700         0              0              0
  86  Drawer          -0.860         0.190          1.429          0              0              0
  87  Drawer          -0.047         0.192          -1.324         0              0              0
  88  Drawer          -0.677         0.193          -0.700         0              0              0
  89  Drawer          -0.860         0.577          -0.100         0              0              0
  90  Sink            3.078          0.887          0.086          0              0              0
  91  StoveBurner     -0.239         0.897          -1.089         0              315            0
  92  Drawer          -0.860         0.190          0.663          0              0              0
  93  CounterTop      1.210          0.937          0.463          0              0              0
  94  Drawer          -0.047         0.381          -1.324         0              0              0
  95  Drawer          -0.677         0.387          -0.700         0              0              0
  96  Mirror          -1.295         1.630          0.045          0              0              0
  97  Drawer          -0.860         0.385          1.429          0              0              0
  98  HousePlant      3.196          0.891          -0.368         0              0              0
  99  StoveKnob       -0.090         0.790          -1.009         270            45             0
 100  StoveKnob       -0.280         0.790          -0.819         270            45             0
 101  StoveKnob       -0.180         0.790          -0.920         270            45             0
 102  StoveKnob       -0.370         0.790          -0.720         270            45             0
 103  GarbageCan      3.137          0.025          1.545          0              225            0
 104  Window          3.703          1.675          0.046          90             90             0
 105  CoffeeMachine   3.214          0.890          0.697          0              270            0
 106  LightSwitch     2.592          1.309          -1.880         0              0              0
 107  SinkBasin       3.069          0.736          0.108          0              90             0
 108  Fridge          1.008          0.029          -1.467         0              0              0
 109  Toaster         -1.035         0.873          -0.396         0              90             0
 110  Microwave       -1.034         0.874          1.428          0              90             0
 111  Faucet          3.305          0.886          0.094          270            180            0
 112  NorthWall
 113  EastWall
 114  SouthWall
 115  WestWall

Plan:
STEP 1: turn around towards the toaster | STEP 2: pick up the spoon at the front of the toaster | STEP 3: turn around towards the sink | STEP 4: rinse the spoon in the sink | STEP 5: move towards the drawer at the right | STEP 6: drop the spoon in the drawer | END