Task: Rinse a spoon to put away in the bottom right-hand drawer next to the sink.

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          3.0            0              180            0
   1  Pan             -0.662         1.047          2.593          0              180            0              44
   2  Pan             -2.262         1.124          0.567          0              270            0              54
   3  Potato          -0.415         1.259          0.475          0              0              0              67
   4  Potato          -3.572         0.942          3.132          0              90             0              61
   5  Ladle           -0.715         1.164          0.569          0              0              0              56
   6  DishSponge      -3.778         1.124          0.662          0              0              0              51
   7  DishSponge      -0.771         1.124          0.206          0              0              0              56
   8  Pot             -3.000         1.133          0.480          0              270            0              49
   9  Pot             -1.562         0.053          0.438          0              0              0              59
  10  Spoon           -1.288         0.932          0.290          0              0              0              66
  11  Egg             -0.309         1.242          0.410          0              0              0              67
  12  Plate           -0.785         1.046          3.266          0              0              0              44
  13  SoapBottle      -3.696         0.113          2.038          0              0              0              65
  14  Bowl            -2.514         1.122          0.284          0              0              0              54
  15  SaltShaker      -3.742         1.121          0.190          0              0              0              51
  16  SaltShaker      -0.785         1.044          2.144          0              0              0              44
  17  Fork            -0.538         1.047          3.042          0              0              0              44
  18  SoapBottle      -2.592         0.488          0.545          0              0              0              47
  19  Pot             -3.475         1.133          0.227          0              90             0              40
  20  Ladle           -0.662         1.086          1.920          0              0              0              44
  21  Potato          -3.887         1.155          0.284          0              0              0              51
  22  Plate           -1.156         0.047          0.437          0              0              0              48
  23  Bread           -0.183         1.119          1.892          0              0              0              44
  24  Lettuce         -0.908         1.125          2.817          0              0              0              44
  25  Spatula         -0.538         1.062          2.144          0              0              0              44
  26  Pan             -0.266         1.038          2.561          0              0              0              44
  27  Egg             -3.572         1.590          3.203          0              90             0              61
  28  Cup             -1.199         0.929          0.567          0              0              0              66
  29  SaltShaker      -1.116         0.045          0.608          0              0              0              48
  30  Knife           -1.465         0.963          0.498          0              0              0              66
  31  Bowl            -3.373         1.558          3.061          0              90             0              61
  32  PepperShaker    -3.778         1.121          0.095          0              0              0              51
  33  ButterKnife     -0.715         1.124          0.387          0              0              0              56
  34  Apple           -1.376         0.998          0.636          0              0              0              66
  35  Tomato          -3.373         1.327          2.849          0              90             0              61
  36  DishSponge      -0.538         1.046          2.144          0              0              0              44
  37  Spoon           -2.463         0.904          0.612          0              270            0              53
  38  Mug             -1.111         0.926          0.428          0              0              0              66
  39  StoveKnob       -3.322         1.053          0.709          45             0              0
  40  StoveBurner     -3.474         1.097          0.227          0              180            0
  41  Sink            -1.394         0.982          0.439          0              0              0
  42  StoveBurner     -3.474         1.097          0.479          0              180            0
  43  StoveKnob       -3.164         1.053          0.709          45             0              0
  44  DiningTable     -0.620         0.017          2.486          0              0              0
  45  Drawer          -2.043         0.608          0.594          0              0              0
  46  Drawer          -2.043         0.216          0.594          0              0              0
  47  Drawer          -2.498         0.216          0.594          0              0              0
  48  Cabinet         -1.001         0.393          0.734          0              0              0
  49  StoveBurner     -3.000         1.097          0.480          0              0              0
  50  StoveKnob       -3.492         1.053          0.709          45             0              0
  51  CounterTop      -3.856         1.160          0.379          0              0              0
  52  Drawer          -2.043         0.937          0.599          0              0              0
  53  Drawer          -2.509         0.937          0.599          0              0              0
  54  CounterTop      -2.280         1.160          0.379          0              0              0
  55  StoveKnob       -2.985         1.053          0.709          45             0              0
  56  CounterTop      -0.514         1.160          0.492          0              0              0
  57  Drawer          -2.498         0.608          0.594          0              0              0
  58  StoveBurner     -3.000         1.097          0.227          0              0              0
  59  Cabinet         -1.733         0.393          0.734          0              0              0
  60  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  61  Fridge          -3.519         0.0            2.717          0              90             0
  62  Window          -1.394         1.924          0.014          90             0              0
  63  Window          -3.266         1.924          0.014          90             0              0
  64  Toaster         -0.225         1.038          2.865          0              270            0
  65  GarbageCan      -3.696         0.002          2.008          0              0              0
  66  SinkBasin       -1.389         0.921          0.428          0              0              0
  67  Microwave       -0.366         1.113          0.430          0              0              0
  68  HousePlant      -2.155         1.101          0.169          0              332.897        0
  69  LightSwitch     -2.584         1.299          3.5            0              180            0
  70  Faucet          -1.393         1.373          0.168          0              270            0
  71  NorthWall
  72  SouthWall
  73  SouthWall

Plan:
STEP 1: Walk forwards and then turn left to reach the wooden table. | STEP 2: Pick up the spoon laying on the table. | STEP 3: Make a right to reach the kitchen sink. | STEP 4: Rinse the spoon in the sink and remove it again. | STEP 5: Move to face the drawers below and to the right of the sink. | STEP 6: Put the spoon into the bottom drawer to the right of the sink. | END