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           1.0            0.900          2.75           0              0              0
   1  Pan             0.107          0.925          0.273          0              90             0              70
   2  Potato          1.509          0.935          0.639          0              0              0              62
   3  Ladle           0.000          0.969          1.202          0              0              0              70
   4  Fork            0.000          0.926          0.506          0              0              0              70
   5  Fork            0.000          0.926          0.041          0              0              0              70
   6  Spatula         0.083          0.775          -1.380         0              270            0              86
   7  Pot             1.975          0.938          0.819          0              180            0              72
   8  Knife           1.760          0.717          0.543          0              0              0              63
   9  Tomato          2.030          0.966          -1.707         0              0              0              62
  10  Tomato          -1.551         0.966          -0.964         0              0              0              62
  11  Bowl            1.195          0.107          -1.479         0              0              0              55
  12  Lettuce         0.107          1.002          0.738          0              0              0              70
  13  Mug             0.250          0.107          -1.282         0              0              0              51
  14  Mug             -0.361         0.109          -1.222         0              270            0              41
  15  Apple           -1.697         1.522          0.107          0              90             0              85
  16  Apple           0.889          0.964          -1.707         0              0              0              62
  17  SoapBottle      -1.114         1.683          -1.614         0              0              0              64
  18  Cup             0.321          0.923          0.506          0              0              0              70
  19  Pot             1.975          0.938          0.384          0              180            0              48
  20  Fork            -0.106         0.926          0.970          0              0              0              70
  21  Ladle           -1.874         0.955          -1.318         0              0              0              62
  22  Kettle          1.746          0.912          -0.131         0              0              0              62
  23  Egg             -1.771         1.086          -0.081         0              90             0              85
  24  Plate           -1.244         0.112          -1.360         0              0              0              74
  25  Pan             -1.286         0.9            -1.348         0              79.769         0              62
  26  Lettuce         -0.088         0.837          -1.490         0              0              0              86
  27  Spatula         0.889          0.926          -1.415         0              0              0              62
  28  Apple           0.170          0.813          -1.380         0              0              0              86
  29  Knife           -0.106         0.947          -0.190         0              0              0              70
  30  SaltShaker      -1.957         1.658          -1.358         0              90             0              49
  31  PepperShaker    -0.699         0.667          -1.240         0              0              0              53
  32  CellPhone       1.713          0.224          0.462          0              0              0              56
  33  ButterKnife     1.714          0.763          1.220          0              270            0              68
  34  Bread           1.802          0.992          -1.707         0              0              0              62
  35  Tomato          -0.213         0.980          0.738          0              0              0              70
  36  Potato          -1.818         0.065          1.329          0              270            0              76
  37  DishSponge      1.824          0.761          1.292          0              270            0              68
  38  Spoon           0.853          0.672          -1.270         0              0              0              43
  39  Mug             2.039          1.654          -1.204         0              270            0              50
  40  Bowl            -0.305         0.113          -1.409         0              0              0              41
  41  Cabinet         -0.495         0.474          -1.149         0              0              0
  42  Window          -0.010         1.582          -1.821         0              0              0
  43  Drawer          0.805          0.475          -1.159         0              0              0
  44  StoveBurner     1.764          0.902          0.601          0              270            0
  45  Drawer          1.5            0.196          -0.019         0              0              0
  46  Drawer          1.5            0.629          -0.018         0              0              0
  47  Drawer          1.5            0.602          -0.019         0              270            0
  48  StoveBurner     1.975          0.902          0.384          0              270            0
  49  Cabinet         -1.703         2.022          -1.453         0              90             0
  50  Cabinet         1.789          2.019          -0.819         0              270            0
  51  Cabinet         0.494          0.474          -1.149         0              0              0
  52  Cabinet         0.409          0.475          0.444          0              0              0
  53  Drawer          -0.696         0.475          -1.159         0              0              0
  54  Drawer          1.5            0.140          0.599          0              270            0
  55  Cabinet         1.389          0.474          -1.149         0              0              0
  56  Drawer          1.5            0.305          0.600          0              0              0
  57  StoveBurner     1.975          0.902          0.601          0              270            0
  58  Drawer          1.5            0.429          -0.019         0              0              0
  59  StoveBurner     1.764          0.902          0.819          0              270            0
  60  Drawer          1.5            0.519          1.220          0              0              0
  61  Cabinet         1.705          2.019          -1.449         0              0              0
  62  CounterTop      0.002          0.947          -1.513         0              0              0
  63  Drawer          1.5            0.629          0.605          0              0              0
  64  Cabinet         -0.627         2.019          -1.449         0              0              0
  65  StoveBurner     1.764          0.902          0.384          0              270            0
  66  Drawer          1.5            0.538          0.600          0              0              0
  67  Sink            0.0            0.893          -1.434         0              0              0
  68  Drawer          1.5            0.782          1.220          0              270            0
  69  Window          2.217          1.565          -0.384         0              0              0
  70  CounterTop      -0.014         0.961          0.505          0              0              0
  71  Drawer          1.5            0.200          1.220          0              0              0
  72  StoveBurner     1.975          0.902          0.819          0              270            0
  73  Window          -3.240         1.616          2.693          0              270            0
  74  Cabinet         -1.389         0.474          -1.149         0              0              0
  75  LightSwitch     -0.153         1.291          3.700          0              180            0
  76  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  77  StoveKnob       1.602          0.917          0.570          0              270            180
  78  StoveKnob       1.602          0.917          0.625          0              270            180
  79  StoveKnob       1.602          0.917          0.739          0              270            180
  80  StoveKnob       1.602          0.917          0.680          0              270            180
  81  StoveKnob       1.602          0.917          0.462          0              270            180
  82  StoveKnob       1.602          0.917          0.517          0              270            180
  83  Microwave       1.932          0.899          -0.766         0              270            0
  84  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  85  Fridge          -1.764         0.0            0.014          0              90             0
  86  SinkBasin       -0.014         0.736          -1.435         0              0              0
  87  Toaster         1.977          0.900          -0.336         0              270            0
  88  Faucet          -0.020         1.137          -1.605         0              270            0
  89  Chair           -9.354         0.000          1.242          0              180            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Turn around, go straight toward the coffee maker, then turn right, then go straight to the counter. | STEP 2: Pick up the spoon on the counter, to the left of the fridge. | STEP 3: Turn around, go straight, turn left at the dishwasher, go straight, then turn right at the leftmost counter. | STEP 4: Put the spoon in the top, leftmost drawer under the counter. | STEP 5: Turn right, then turn right at the kitchen island. | STEP 6: Pick up the spoon on the kitchen island, to the right of the fork. | STEP 7: Turn around and return to the leftmost counter. | STEP 8: Place the spoon in the top drawer of the counter. | END