Task: Put two 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           -1.75          0.900          -1.25          0              0              0
   1  Pan             -2.439         1.088          -0.979         0              180            0              80
   2  Potato          1.562          0.221          0.651          0              270            0              87
   3  Potato          -2.621         0.947          0.331          0              0              0              76
   4  ButterKnife     -0.211         0.910          0.647          0              0              0              48
   5  ButterKnife     -2.621         0.910          1.530          0              0              0              76
   6  Fork            -2.372         0.911          1.530          0              0              0              76
   7  Fork            0.683          0.911          -1.454         0              0              0              58
   8  Spoon           1.283          0.920          -1.169         0              225            0              62
   9  Spatula         -2.257         0.789          0.857          0              90             0              53
  10  Spatula         -0.601         0.925          0.647          0              0              0              48
  11  Egg             -2.439         1.331          -0.696         0              90             0              80
  12  Cup             -2.411         1.581          -1.631         0              180            0              75
  13  Cup             -2.538         0.908          0.031          0              0              0              76
  14  Tomato          -2.289         0.953          1.830          0              0              0              76
  15  SoapBottle      1.461          0.924          -1.131         0              225            0              62
  16  Bowl            -0.081         0.908          1.317          0              0              0              48
  17  SaltShaker      -2.521         1.533          2.057          0              0              0              60
  18  SaltShaker      -0.341         0.905          1.540          0              0              0              48
  19  Bread           -2.206         0.996          1.530          0              0              0              76
  20  Bread           -0.081         0.996          1.764          0              0              0              48
  21  Mug             -2.466         0.589          -0.872         0              90             0              80
  22  Mug             1.598          0.906          0.465          0              0              0              57
  23  Apple           -2.393         1.362          -0.979         0              90             0              80
  24  Apple           1.494          0.972          -0.841         0              45             0              58
  25  Pan             1.411          0.929          0.064          0              0              0              77
  26  Knife           -0.601         0.936          1.317          0              90             0              48
  27  Apple           -2.289         0.972          1.230          0              0              0              76
  28  Bowl            -2.609         1.930          -1.092         0              0              0              69
  29  Fork            -0.211         0.911          0.870          0              0              0              48
  30  Bread           -2.621         0.996          0.631          0              0              0              76
  31  Plate           0.516          1.666          -1.766         0              90             0              55
  32  Egg             -2.506         1.046          2.431          0              90             0              88
  33  Kettle          0.854          0.900          -1.790         0              0              0              58
  34  Potato          1.477          0.957          -1.255         0              225            0              62
  35  SaltShaker      -2.375         1.578          -1.777         0              180            0              75
  36  Lettuce         -0.730         0.994          1.764          0              0              0              48
  37  Cup             -2.613         0.176          -1.012         0              90             0              80
  38  SoapBottle      1.687          0.187          0.651          0              0              0              87
  39  Spatula         -2.257         0.788          1.274          0              90             0              79
  40  PaperTowelRoll  -0.211         1.015          1.317          0              0              0              48
  41  ButterKnife     1.283          0.918          -1.169         0              225            0              62
  42  PepperShaker    -2.411         1.578          -1.485         0              180            0              75
  43  DishSponge      -2.318         0.772          -0.121         0              0              0              66
  44  Pot             1.691          0.929          -0.335         0              0              0              56
  45  Spoon           1.364          0.920          -1.088         0              225            0              62
  46  Tomato          -2.420         0.637          -1.051         0              90             0              80
  47  Mug             0.301          1.658          -1.802         0              90             0              55
  48  CounterTop      -0.360         0.946          1.093          0              0              0
  49  StoveBurner     1.412          0.923          -0.335         0              0              0
  50  StoveKnob       1.878          1.093          0.018          287.989        90             0
  51  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  52  Cabinet         -2.446         1.948          2.924          0              0              0
  53  Drawer          -2.276         0.792          0.902          0              0              0
  54  Cabinet         -2.145         0.402          1.578          0              0              0
  55  Cabinet         0.149          2.008          -1.603         0              90             0
  56  StoveBurner     1.691          0.923          -0.335         0              0              0
  57  CounterTop      1.585          0.946          0.405          0              0              0
  58  CounterTop      0.474          0.946          -1.625         0              0              0
  59  StoveBurner     1.691          0.923          0.064          0              0              0
  60  Cabinet         -2.446         1.948          1.687          0              0              0
  61  Cabinet         -2.446         1.948          1.640          0              0              0
  62  Sink            1.381          0.810          -1.271         0              225            0
  63  StoveKnob       1.878          1.093          0.150          287.989        90             0
  64  Cabinet         -2.145         0.402          -0.236         0              0              0
  65  Drawer          -2.276         0.792          0.437          0              0              0
  66  Drawer          -2.276         0.792          -0.027         0              0              0
  67  Cabinet         1.572          2.008          0.474          0              0              0
  68  Cabinet         1.572          2.008          -0.775         0              0              0
  69  Cabinet         -2.445         2.148          -1.275         0              0              0
  70  Cabinet         -2.446         2.148          -0.284         0              0              0
  71  Cabinet         -2.446         1.948          0.355          0              0              0
  72  Cabinet         -2.446         1.948          0.405          0              0              0
  73  Cabinet         -2.145         0.402          0.644          0              0              0
  74  Cabinet         -2.145         0.402          0.695          0              0              0
  75  Cabinet         -2.285         1.968          -1.325         0              180            0
  76  CounterTop      -1.485         0.946          1.319          0              0              0
  77  StoveBurner     1.411          0.923          0.064          0              0              0
  78  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  79  Drawer          -2.276         0.792          1.368          0              0              0
  80  Fridge          -2.475         0.0            -0.782         0              90             0
  81  LightSwitch     -0.929         1.350          -1.950         0              0              0
  82  Toaster         -2.564         0.900          1.876          0              90             0
  83  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  84  Window          1.508          1.534          -1.496         90             135            0
  85  Window          1.973          1.521          1.121          90             90             0
  86  SinkBasin       1.149          0.753          -1.380         0              225            0
  87  GarbageCan      1.646          -0.000         0.679          0              0              0
  88  Microwave       -2.580         0.900          2.440          0              90             0
  89  Stool           0.439          0.010          0.747          0              0              0
  90  Stool           -2.303         0.010          1.839          0              0              0
  91  Faucet          1.235          1.138          -1.473         0              225            0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn right and walk to the sink. | STEP 2: Take one spoon from the side of the sink. | STEP 3: Turn around and walk to the fridge, turn right to the counter on the right side of the fridge. | STEP 4: Open the drawer closest to the refrigerator, place the spoon in the drawer and close the drawer. | STEP 5: Turn left, walk to the fridge, turn left and walk to the sink. | STEP 6: Pick up the spoon to the left of the sink. | STEP 7: Turn around, walk to the counter on the right side of the fridge. | STEP 8: Put the spoon in the drawer to the right of the fridge. | END