Task: Putting away metal spoons 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           -0.5           0.900          -0.75          0              0              0
   1  DishSponge      -0.971         0.773          -1.505         0              0              0              62
   2  Pot             1.361          0.962          0.561          0              270            0              54
   3  Spoon           0.432          0.913          0.209          0              0              0              48
   4  Spoon           1.289          0.913          -1.737         0              90             0              49
   5  Spoon           -1.928         0.953          0.614          0              180            0              82
   6  Egg             0.300          0.947          0.292          0              0              0              48
   7  Cup             1.289          0.910          -1.406         0              0              0              49
   8  Cup             -2.065         0.950          0.524          0              90             0              82
   9  Plate           1.724          0.913          0.623          0              0              0              64
  10  Plate           -2.31          0.512          -1.806         0              0              0              79
  11  Knife           0.167          0.937          0.540          0              0              0              48
  12  Knife           0.035          0.937          0.292          0              90             0              48
  13  Tomato          0.856          0.968          -1.582         0              270            0              47
  14  PepperShaker    -0.493         1.325          -1.883         0              180            0              43
  15  PepperShaker    -1.928         0.948          0.524          0              90             0              82
  16  Bread           -0.451         0.995          -1.654         0              0              0              49
  17  Bread           -2.065         1.035          0.345          0              90             0              82
  18  Lettuce         1.846          1.002          0.292          0              0              0              64
  19  Mug             0.701          0.914          -1.715         0              90             0              47
  20  Bread           1.781          0.995          -1.571         0              0              0              49
  21  Knife           -2.340         0.977          0.345          0              0              0              82
  22  Fork            -2.340         0.952          0.524          0              90             0              82
  23  Bowl            1.830          0.107          0.311          0              0              0              57
  24  Kettle          -2.477         0.953          0.524          0              90             0              82
  25  Cup             -1.928         0.950          0.704          0              90             0              82
  26  Tomato          -2.222         1.541          -1.806         0              0              0              79
  27  SoapBottle      -0.329         0.068          0.612          0              90             0              78
  28  Plate           0.021          0.107          0.320          0              0              0              59
  29  Pot             1.007          0.962          0.561          0              270            0              51
  30  Spatula         -2.203         0.967          0.165          0              90             0              82
  31  PaperTowelRoll  -0.296         0.174          0.439          0              90             0              78
  32  Egg             1.535          0.947          -1.489         0              0              0              49
  33  Lettuce         -1.791         1.042          0.255          0              90             0              82
  34  SaltShaker      0.167          0.908          0.623          0              0              0              48
  35  PepperShaker    0.271          0.104          -1.434         0              180            0              46
  36  Apple           0.908          0.986          -1.715         0              270            0              47
  37  ButterKnife     0.701          0.919          -1.649         0              270            0              47
  38  Potato          -1.027         1.045          -1.737         0              0              0              71
  39  Pan             1.022          0.959          0.288          0              219.190        0              61
  40  DishSponge      -0.343         1.328          -1.846         0              180            0              43
  41  Spoon           0.167          0.913          0.292          0              0              0              48
  42  Mug             0.148          0.103          -1.584         0              180            0              46
  43  Cabinet         -0.193         1.688          -1.648         0              180            0
  44  StoveBurner     1.360          0.957          0.293          0              180            0
  45  Drawer          0.499          0.792          0.296          0              0              0
  46  Cabinet         0.095          0.400          -1.352         0              180            0
  47  Sink            0.711          0.817          -1.772         0              270            0
  48  CounterTop      0.280          0.947          0.458          0              0              0
  49  CounterTop      -0.680         0.947          -1.654         0              0              0
  50  Drawer          1.825          0.792          0.296          0              0              0
  51  StoveBurner     1.007          0.957          0.561          0              270            0
  52  Drawer          -0.150         0.792          -1.496         0              0              0
  53  Drawer          -0.586         0.792          -1.496         0              0              0
  54  StoveBurner     1.360          0.957          0.561          0              270            0
  55  Drawer          0.024          0.792          0.296          0              0              0
  56  Cabinet         1.079          0.400          -1.349         0              180            0
  57  Cabinet         1.669          0.402          0.151          0              0              0
  58  Cabinet         0.055          0.402          -1.351         0              0              0
  59  Cabinet         -0.180         0.402          0.151          0              0              0
  60  Cabinet         0.729          0.402          0.151          0              0              0
  61  StoveBurner     1.007          0.957          0.293          0              180            0
  62  Drawer          -1.100         0.792          -1.496         0              0              0
  63  Cabinet         -0.396         0.402          -1.351         0              0              0
  64  CounterTop      1.776          0.947          0.458          0              0              0
  65  Cabinet         1.974          1.688          -1.648         0              180            0
  66  Cabinet         -0.820         0.400          -1.349         0              180            0
  67  Toaster         0.305          0.900          0.552          0              180            0
  68  LightSwitch     -2.756         1.307          -0.987         0              90             0
  69  Window          0.582          1.613          -1.967         90             0              0
  70  Window          1.969          1.5            -0.615         90             270            0
  71  Microwave       -1.037         0.900          -1.723         0              0              0
  72  SinkBasin       0.377          0.765          -1.655         0              270            0
  73  CoffeeMachine   0.618          0.900          0.600          0              180            0
  74  StoveKnob       1.246          0.913          0.118          45             180            0
  75  StoveKnob       1.373          0.913          0.118          45             180            0
  76  StoveKnob       0.995          0.913          0.118          45             180            0
  77  StoveKnob       1.126          0.913          0.118          45             180            0
  78  GarbageCan      -0.368         -0.029         0.539          0              90             0
  79  Fridge          -2.134         0.0            -1.690         0              0              0
  80  Faucet          0.549          1.046          -1.833         0              232.527        0
  81  Stool           -1.475         0.000          0.414          1.233          280.375        0
  82  DiningTable     -2.255         -0.004         0.432          0              0              0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn to the right and walk into the kitchen then face the left counter | STEP 2: Pick up the metal spoon from the counter | STEP 3: Turn to the left and face the drawer to the left | STEP 4: Open the drawer and place the spoon inside and close it | STEP 5: Turn to the right and face the counter | STEP 6: Pick up the metal spoon from the counter | STEP 7: Turn to the left and face the drawer to the left | STEP 8: Open the drawer and place the spoon inside and close it | END