Task: put two spoons in a drawer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          0.0            0              0              0
   1  Potato          -1.682         0.863          0.201          0              90             0              94
   2  Potato          1.892          1.030          -0.599         0              270            0              92
   3  Ladle           1.218          1.724          -1.614         0              0              0              70
   4  DishSponge      0.361          0.112          -1.408         0              0              0              60
   5  ButterKnife     -0.106         0.925          0.041          0              0              0              79
   6  ButterKnife     -1.668         0.911          -1.415         0              0              0              71
   7  Fork            1.559          0.347          0.736          0              270            0              65
   8  Pot             1.802          0.915          -1.610         0              0              0              71
   9  Egg             -0.002         0.817          -1.546         0              0              0              95
  10  Cup             1.341          1.677          -1.690         0              0              0              70
  11  Plate           0.107          0.924          1.202          0              0              0              79
  12  Plate           -1.803         1.467          -0.175         0              90             0              94
  13  Knife           1.764          0.601          0.667          0              0              0              75
  14  Knife           0.214          0.947          0.273          0              0              0              79
  15  SoapBottle      -0.744         1.683          -1.614         0              0              0              73
  16  SoapBottle      -0.320         0.929          0.506          0              0              0              79
  17  Tomato          0.170          0.815          -1.435         0              0              0              95
  18  Bowl            -0.137         0.113          -1.409         0              0              0              50
  19  Bowl            -0.361         0.113          -1.347         0              0              0              50
  20  PepperShaker    1.900          0.907          1.258          0              0              0              71
  21  Bread           0.000          1.006          0.738          0              0              0              79
  22  Bread           -1.463         0.992          -0.964         0              0              0              71
  23  Mug             1.355          0.955          -1.362         0              0              0              93
  24  Apple           -1.796         0.094          1.371          0              270            0              85
  25  Apple           -0.175         0.813          -1.380         0              0              0              95
  26  SoapBottle      2.001          1.662          -1.204         0              270            0              59
  27  Cup             -0.106         0.923          0.506          0              0              0              79
  28  Pot             1.975          0.938          0.601          0              180            0              66
  29  Fork            -0.106         0.926          -0.190         0              0              0              79
  30  Ladle           -1.814         0.955          -1.063         0              0              0              71
  31  Kettle          0.321          0.926          0.506          0              0              0              79
  32  Egg             1.988          1.063          -0.547         0              270            0              92
  33  Plate           0.107          0.924          0.041          0              0              0              79
  34  Pan             -1.286         0.9            -1.348         0              79.769         0              71
  35  Lettuce         -1.803         1.545          0.201          0              90             0              94
  36  Spatula         1.710          0.710          -0.145         0              90             0              55
  37  Apple           -1.721         0.616          -0.175         0              90             0              94
  38  Knife           1.769          0.784          1.365          0              0              0              77
  39  SaltShaker      0.000          0.921          0.506          0              0              0              79
  40  PepperShaker    0.138          0.109          -1.220         0              0              0              60
  41  CellPhone       0.107          0.923          0.970          0              0              0              79
  42  ButterKnife     1.710          0.695          0.672          0              0              0              72
  43  Bread           -0.213         1.006          0.970          0              0              0              79
  44  Tomato          1.117          0.966          -1.707         0              0              0              71
  45  Potato          -0.261         0.784          -1.490         0              0              0              95
  46  DishSponge      1.661          0.236          -0.157         0              0              0              54
  47  Spoon           -1.874         0.912          -1.415         0              0              0              71
  48  Mug             -0.088         0.755          -1.546         0              0              0              95
  49  Bowl            -1.841         1.660          -0.980         0              90             0              58
  50  Cabinet         -0.495         0.474          -1.149         0              0              0
  51  Window          -0.010         1.582          -1.821         0              0              0
  52  Drawer          0.805          0.475          -1.159         0              0              0
  53  StoveBurner     1.764          0.902          0.601          0              270            0
  54  Drawer          1.5            0.196          -0.019         0              0              0
  55  Drawer          1.5            0.629          -0.018         0              0              0
  56  Drawer          1.5            0.602          -0.019         0              270            0
  57  StoveBurner     1.975          0.902          0.384          0              270            0
  58  Cabinet         -1.703         2.022          -1.453         0              90             0
  59  Cabinet         1.789          2.019          -0.819         0              270            0
  60  Cabinet         0.494          0.474          -1.149         0              0              0
  61  Cabinet         0.409          0.475          0.444          0              0              0
  62  Drawer          -0.696         0.475          -1.159         0              0              0
  63  Drawer          1.5            0.140          0.599          0              270            0
  64  Cabinet         1.389          0.474          -1.149         0              0              0
  65  Drawer          1.5            0.305          0.600          0              0              0
  66  StoveBurner     1.975          0.902          0.601          0              270            0
  67  Drawer          1.5            0.429          -0.019         0              0              0
  68  StoveBurner     1.764          0.902          0.819          0              270            0
  69  Drawer          1.5            0.519          1.220          0              0              0
  70  Cabinet         1.705          2.019          -1.449         0              0              0
  71  CounterTop      0.002          0.947          -1.513         0              0              0
  72  Drawer          1.5            0.629          0.605          0              0              0
  73  Cabinet         -0.627         2.019          -1.449         0              0              0
  74  StoveBurner     1.764          0.902          0.384          0              270            0
  75  Drawer          1.5            0.538          0.600          0              0              0
  76  Sink            0.0            0.893          -1.434         0              0              0
  77  Drawer          1.5            0.782          1.220          0              270            0
  78  Window          2.217          1.565          -0.384         0              0              0
  79  CounterTop      -0.014         0.961          0.505          0              0              0
  80  Drawer          1.5            0.200          1.220          0              0              0
  81  StoveBurner     1.975          0.902          0.819          0              270            0
  82  Window          -3.240         1.616          2.693          0              270            0
  83  Cabinet         -1.389         0.474          -1.149         0              0              0
  84  LightSwitch     -0.153         1.291          3.700          0              180            0
  85  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  86  StoveKnob       1.602          0.917          0.570          0              270            180
  87  StoveKnob       1.602          0.917          0.625          0              270            180
  88  StoveKnob       1.602          0.917          0.739          0              270            180
  89  StoveKnob       1.602          0.917          0.680          0              270            180
  90  StoveKnob       1.602          0.917          0.462          0              270            180
  91  StoveKnob       1.602          0.917          0.517          0              270            180
  92  Microwave       1.932          0.899          -0.766         0              270            0
  93  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  94  Fridge          -1.764         0.0            0.014          0              90             0
  95  SinkBasin       -0.014         0.736          -1.435         0              0              0
  96  Toaster         1.977          0.900          -0.336         0              270            0
  97  Faucet          -0.020         1.137          -1.605         0              270            0
  98  Chair           -9.354         0.000          1.242          0              180            0
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: turn around and walk towards the refrigerator behind you. Stand facing the counter to the left of the fridge | STEP 2: pick up the spoon that is on the counter | STEP 3: turn around and walk towards the microwave behind you, turn left | STEP 4: put the spoon in the drawer under the stove | STEP 5: turn around and go to the left, walk towards the coffee pot | STEP 6: take a spoon from the cabinet above the coffee pot | STEP 7: turn around and walk back towards the stove | STEP 8: put the spoon in the drawer under the stove | END