Task: Wash spoon, put it in drawer.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          0.75           0              180            0
   1  Pan             -1.289         0.957          -0.756         0              180            0              51
   2  Potato          -1.063         0.943          0.083          0              0              0              69
   3  DishSponge      -1.312         1.660          -0.626         0              0              0              59
   4  Pot             -1.289         0.957          -1.02          0              0              0              66
   5  Spatula         -0.598         1.146          0.706          0              0              0              72
   6  Fork            -0.759         0.692          -1.891         0              90             0              46
   7  Fork            -0.203         0.763          -2.063         0              0              0              86
   8  Egg             1.836          0.850          -0.271         0              270            0              83
   9  Egg             -1.330         0.947          -0.353         0              0              0              69
  10  Plate           -0.152         1.129          0.573          0              0              0              72
  11  Plate           1.419          0.909          -2.098         0              0              0              76
  12  Knife           -1.244         0.907          -0.200         90             5.793          0              69
  13  Knife           -0.598         1.155          0.485          0              0              0              72
  14  Bowl            1.945          1.424          -0.551         0              270            0              83
  15  PepperShaker    2.487          0.548          0.038          0              180            0              82
  16  PepperShaker    1.057          1.654          -2.126         0              0              0              55
  17  Lettuce         1.945          1.175          -0.458         0              270            0              83
  18  Pan             -1.056         0.956          -0.672         0              180            0              48
  19  Knife           0.055          0.786          -2.008         0              0              0              86
  20  Bowl            -0.117         0.760          -2.063         0              0              0              86
  21  Fork            -0.375         1.132          0.441          0              0              0              72
  22  Cup             0.101          0.750          -1.938         0              0              0              86
  23  Ladle           -1.349         1.699          0.231          0              270            0              60
  24  Apple           1.963          0.111          0.195          0              0              0              79
  25  Kettle          -1.047         0.953          -2.094         0              0              0              76
  26  Vase            -1.028         0.138          -0.250         0              0              0              63
  27  Potato          1.884          0.093          0.080          0              0              0              79
  28  Pot             -1.056         0.956          -1.127         0              0              0              73
  29  Bread           -1.139         0.987          -0.193         0              0              357.000        69
  30  Plate           1.688          0.115          -1.332         0              0              0              50
  31  Spatula         1.644          0.926          -2.183         0              0              0              76
  32  PaperTowelRoll  -1.045         1.235          0.662          0              90             0              72
  33  Vase            2.699          0.869          0.182          0              0              0              80
  34  Egg             1.813          1.049          -1.297         0              270            0              81
  35  SoapBottle      1.194          0.911          -1.760         0              0              0              76
  36  SaltShaker      0.071          1.127          0.441          0              0              0              72
  37  Lettuce         1.891          1.504          -0.365         0              270            0              83
  38  PepperShaker    -0.589         0.690          -1.935         0              0              0              46
  39  ButterKnife     -0.993         0.911          -1.638         0              0              0              76
  40  DishSponge      -0.634         0.913          0.083          0              0              0              69
  41  Vase            2.979          0.539          0.128          0              0              0              82
  42  Spoon           1.194          0.912          -2.183         0              0              0              76
  43  Tomato          1.419          0.960          -1.844         0              0              0              76
  44  Mug             1.804          0.111          -1.136         0              0              0              50
  45  Statue          2.591          0.559          0.245          0              180            0              82
  46  Drawer          -0.819         0.75           -1.690         0              0              0
  47  Cabinet         -1.149         2.264          -0.838         0              90             0
  48  StoveBurner     -1.056         0.949          -0.671         0              180            0
  49  Cabinet         1.738          2.019          -2.000         0              0              0
  50  Cabinet         1.389          0.469          -1.059         0              0              0
  51  StoveBurner     -1.289         0.949          -0.755         0              180            0
  52  Faucet          -0.157         1.052          -2.196         0              270            0
  53  Cabinet         1.75           2.019          -1.029         0              0              0
  54  Cabinet         1.75           2.019          -1.399         0              0              0
  55  Cabinet         1.179          2.019          -2.0           0              0              0
  56  Cabinet         0.199          2.019          -2.0           0              0              0
  57  Cabinet         -1.100         2.019          -2.0           0              0              0
  58  Cabinet         -1.149         2.019          -1.979         0              0              0
  59  Cabinet         -1.149         2.019          -0.770         0              0              0
  60  Cabinet         -1.149         2.019          0.380          0              0              0
  61  Cabinet         -0.819         0.469          -1.689         0              0              0
  62  Cabinet         -0.839         0.469          -1.664         0              0              0
  63  Cabinet         -0.839         0.469          -0.049         0              0              0
  64  Cabinet         -0.414         0.370          -0.009         0              0              0
  65  Sink            -0.118         0.875          -2.009         0              0              0
  66  StoveBurner     -1.289         0.949          -1.019         0              0              0
  67  Cabinet         0.119          2.264          -2.0           0              0              0
  68  Cabinet         -0.459         2.264          -2.0           0              0              0
  69  CounterTop      -0.665         0.949          0.188          0              0              0
  70  Drawer          -0.449         0.75           -0.010         0              180            0
  71  Cabinet         -0.450         0.469          -0.009         0              0              0
  72  CounterTop      -0.630         1.167          0.573          0              0              0
  73  StoveBurner     -1.056         0.949          -1.126         0              0              0
  74  Cabinet         1.376          0.460          -1.685         0              0              0
  75  Drawer          -0.070         0.75           -0.009         0              180            0
  76  CounterTop      1.159          0.946          -2.013         0              0              0
  77  Cabinet         -1.150         2.264          -1.418         0              90             0
  78  HousePlant      -1.246         1.108          0.606          0              0              0
  79  GarbageCan      1.923          -0.010         0.137          0              0              0
  80  Shelf           2.759          0.880          0.144          0              0              0
  81  Microwave       1.827          0.900          -1.354         0              270            0
  82  Shelf           2.759          0.552          0.145          0              0              0
  83  Fridge          1.975          0.0            -0.537         0              0              0
  84  LightSwitch     0.404          1.297          2.0            0              180            0
  85  Shelf           2.760          0.172          0.145          0              0              0
  86  SinkBasin       -0.129         0.752          -2.007         0              0              0
  87  StoveKnob       -0.873         0.903          -0.827         45             90             0
  88  StoveKnob       -0.873         0.903          -0.676         45             90             0
  89  StoveKnob       -0.873         0.903          -0.966         45             90             0
  90  StoveKnob       -0.873         0.903          -1.123         45             90             0
  91  Toaster         0.840          0.900          -2.057         0              0              0
  92  CoffeeMachine   0.501          0.900          -2.125         0              0              0
  93  ShelvingUnit    2.760          0.006          0.144          0              0              0
  94  Stool           -0.826         0.010          0.908          0              347.513        0
  95  Stool           -0.132         0.010          0.883          0              71.555         0
  96  NorthWall
  97  EastWall
  98  SouthWall
  99  WestWall

Plan:
STEP 1: Turn right, pass refrigerator, walk to counter. | STEP 2: Pick spoon up from counter. | STEP 3: Turn right, walk to sink, turn left to face sink. | STEP 4: Put spoon in sink, fill sink with water, empty sink. | STEP 5: Take spoon out of sink. | STEP 6: Turn right, walk to drawer, put spoon in drawer. | END