Task: place a rinsed spoon into 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           -1.75          0.900          -0.5           0              270            0
   1  Ladle           -2.323         0.954          0.204          0              0              0              77
   2  Kettle          1.208          0.116          -1.013         0              0              0              60
   3  Kettle          1.093          0.116          -1.244         0              0              0              60
   4  Glassbottle     -1.957         0.911          0.463          0              0              0              77
   5  Fork            -2.116         0.911          -1.448         0              0              0              73
   6  Fork            -2.323         0.911          0.377          0              0              0              77
   7  Spoon           1.176          0.912          -0.990         0              0              0              53
   8  Spoon           0.472          0.774          -1.566         0              90             0              79
   9  Spoon           0.115          0.920          -1.758         0              90             0              54
  10  Spatula         1.533          1.177          -0.659         0              90             0              81
  11  Pot             -1.431         0.949          -1.525         0              0              0              83
  12  Pot             1.092          0.120          0.430          0              0              0              58
  13  Egg             1.341          0.243          1.022          0              0              0              92
  14  Egg             -2.079         0.939          0.377          0              0              0              77
  15  Cup             1.454          1.162          -0.659         0              0              0              81
  16  Plate           1.342          1.656          -0.579         0              0              0              63
  17  Plate           1.401          1.656          -1.500         0              0              0              67
  18  Knife           -2.079         0.940          0.032          0              0              0              77
  19  SoapBottle      0.183          0.919          -1.657         0              270            0              54
  20  Bowl            0.710          0.117          -1.585         0              90             0              69
  21  Lettuce         1.325          1.436          1.726          0              270            0              94
  22  Lettuce         -2.201         0.979          0.291          0              0              0              77
  23  Mug             0.285          0.914          -1.758         0              270            0              54
  24  Apple           1.476          1.402          2.225          0              270            0              94
  25  Apple           1.323          1.754          1.775          0              270            0              94
  26  Tomato          1.414          1.202          -1.002         0              0              0              81
  27  Glassbottle     -0.309         0.117          -1.489         0              0              0              61
  28  Knife           0.852          0.941          -1.704         0              180            0              75
  29  Plate           -0.401         0.911          -1.874         0              0              0              75
  30  Fork            0.949          0.773          -1.013         0              270            0              53
  31  Ladle           -1.886         0.954          -1.879         0              0              0              73
  32  Potato          0.285          0.961          -1.657         0              90             0              54
  33  Lettuce         1.494          1.231          -1.345         0              0              0              81
  34  Kettle          0.770          0.9            -1.836         0              0              0              75
  35  Pen             0.969          0.776          0.323          0              0              0              52
  36  SaltShaker      0.187          0.906          -1.972         0              0              0              54
  37  Cup             1.580          1.656          -0.579         0              0              0              63
  38  Egg             0.251          0.948          -1.556         0              270            0              54
  39  Spatula         0.199          0.926          -1.436         0              0              0              54
  40  Bowl            1.414          1.162          -1.688         0              0              0              81
  41  SprayBottle     1.302          0.213          1.137          0              0              0              92
  42  Pan             -1.079         0.945          -1.528         0              0              0              76
  43  SoapBottle      1.266          0.114          -0.773         0              270            0              59
  44  Pot             -1.081         0.949          -1.81          0              0              0              71
  45  ButterKnife     -0.627         0.911          -1.874         0              0              0              75
  46  PepperShaker    -0.953         1.845          -1.875         0              0              0              55
  47  DishSponge      -1.835         0.910          0.549          0              0              0              77
  48  Bread           1.343          0.989          0.372          0              0              0              75
  49  Apple           0.149          0.954          -1.808         0              270            0              54
  50  Spoon           -2.323         0.911          0.032          0              0              0              77
  51  Mug             1.420          1.715          1.713          0              180            0              94
  52  Drawer          0.860          0.75           0.430          0              0              0
  53  Drawer          0.871          0.75           -1.134         0              0              0
  54  Sink            0.156          0.817          -1.801         0              270            0
  55  Cabinet         -0.868         2.005          -1.690         0              0              0
  56  Cabinet         -1.661         2.059          -1.684         0              90             0
  57  Cabinet         -0.817         2.059          -1.689         0              0              0
  58  Cabinet         0.860          0.402          0.665          0              0              0
  59  Cabinet         0.860          0.402          -0.552         0              0              0
  60  Cabinet         0.860          0.402          -1.365         0              0              0
  61  Cabinet         -0.244         0.402          -1.389         0              0              0
  62  Cabinet         -0.815         0.402          -1.389         0              0              0
  63  Cabinet         1.159          2.059          -0.334         0              0              0
  64  Cabinet         0.488          2.059          -1.689         0              0              0
  65  Cabinet         -0.193         2.059          -1.689         0              0              0
  66  Drawer          0.860          0.75           -0.699         0              0              0
  67  Cabinet         1.159          2.059          -1.019         0              0              0
  68  Cabinet         -1.611         2.005          -1.690         0              0              0
  69  Cabinet         0.832          0.401          -1.393         0              90             0
  70  Drawer          -2.105         0.75           -1.389         0              0              0
  71  StoveBurner     -1.081         0.941          -1.809         0              0              0
  72  Cabinet         -0.202         0.401          -1.391         0              90             0
  73  CounterTop      -1.973         0.945          -1.707         0              0              0
  74  Drawer          -0.375         0.75           -1.389         0              0              0
  75  CounterTop      1.164          0.946          -0.649         0              0              0
  76  StoveBurner     -1.081         0.941          -1.527         0              0              0
  77  CounterTop      -2.096         0.945          0.291          0              0              0
  78  Cabinet         -2.237         0.402          -1.389         0              0              0
  79  Drawer          0.584          0.75           -1.389         0              0              0
  80  Drawer          -1.795         0.75           -1.389         0              0              0
  81  CounterTop      1.5            1.197          -0.654         0              0              0
  82  Cabinet         -1.667         0.402          -1.389         0              0              0
  83  StoveBurner     -1.430         0.941          -1.525         0              0              0
  84  Drawer          -0.685         0.75           -1.389         0              0              0
  85  StoveBurner     -1.430         0.941          -1.809         0              0              0
  86  LightSwitch     -2.539         1.289          2.568          0              90             0
  87  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  88  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  89  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  90  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  91  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  92  GarbageCan      1.343          0.015          1.041          0              0              0
  93  HousePlant      1.440          1.153          0.593          0              0              0
  94  Fridge          1.417          0.0            2.101          0              0              0
  95  Window          -0.486         1.452          3.302          90             0              0
  96  SinkBasin       -0.063         0.765          -1.713         0              270            0
  97  Microwave       1.422          1.150          0.022          0              270            0
  98  Toaster         -2.066         0.900          -1.848         0              0              0
  99  Stool           -1.994         0.010          0.882          0              0              0
 100  Faucet          -0.096         1.041          -1.867         0              270            0
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: turn around, and cross the room to the sink. turn to face the sink | STEP 2: take the spoon on the sink divider | STEP 3: shift slightly right, to stop in front of and facing the right-hand sink | STEP 4: place the spoon in the sink, rinse it, and then remove the spoon from the sink | STEP 5: turn left | STEP 6: open the drawer, place the spoon in the front of the drawer, and close the drawer | END