Task: place 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          1.25           0              270            0
   1  Potato          1.356          0.954          -1.026         0              315            0              57
   2  Potato          -0.211         0.947          1.317          0              0              0              43
   3  ButterKnife     -2.538         0.910          0.031          0              0              0              71
   4  ButterKnife     0.292          0.910          -1.710         0              0              0              53
   5  Spoon           0.765          0.912          -1.478         0              45             0              53
   6  Spoon           -0.730         0.912          0.647          0              0              0              43
   7  Pot             -2.289         0.914          0.031          0              0              0              71
   8  Pot             1.411          0.929          0.064          0              0              0              72
   9  Cup             -2.564         1.535          1.119          0              0              0              56
  10  Cup             1.145          0.768          -1.376         0              225            0              81
  11  Plate           -2.538         0.913          0.631          0              0              0              71
  12  Tomato          1.646          0.227          0.706          0              0              0              82
  13  Tomato          -2.621         0.953          0.031          0              0              0              71
  14  SoapBottle      1.598          0.913          0.465          0              0              0              52
  15  Bowl            -2.313         0.112          0.489          0              0              0              68
  16  SaltShaker      -2.384         0.109          1.319          0              0              0              49
  17  Lettuce         -0.341         0.994          1.540          0              0              0              43
  18  Bread           -2.538         0.996          1.530          0              0              0              71
  19  Apple           -2.603         1.077          2.278          0              90             0              83
  20  Pan             0.0            0.9            0.948          0              29.999         0              43
  21  Knife           -2.318         0.799          1.417          0              270            0              74
  22  Apple           -2.289         0.972          1.230          0              0              0              71
  23  Bowl            -2.605         1.534          1.483          0              0              0              56
  24  Fork            1.512          0.911          0.494          0              0              0              52
  25  Bread           -2.289         0.996          0.931          0              0              0              71
  26  Plate           -0.081         0.913          1.764          0              0              0              43
  27  Egg             -2.485         1.331          -1.074         0              90             0              75
  28  Kettle          1.691          0.929          0.064          0              0              0              54
  29  Potato          1.186          0.947          -0.905         0              45             0              57
  30  SaltShaker      -2.384         0.109          -0.023         0              0              0              59
  31  Lettuce         -2.621         0.994          0.931          0              0              0              71
  32  Cup             -2.524         1.535          1.265          0              0              0              56
  33  SoapBottle      1.372          0.920          -1.150         0              135            0              57
  34  Spatula         -0.341         0.925          1.094          0              0              0              43
  35  PaperTowelRoll  1.855          1.015          0.465          0              0              0              52
  36  ButterKnife     -0.471         0.910          0.870          0              0              0              43
  37  PepperShaker    1.662          1.658          -0.479         0              0              0              63
  38  DishSponge      -2.313         0.114          0.334          0              0              0              68
  39  Pot             1.691          0.929          -0.335         0              0              0              51
  40  Spoon           1.337          0.919          -1.115         0              45             0              57
  41  Tomato          -2.374         0.637          -0.514         0              90             0              75
  42  Mug             -0.471         0.905          0.423          0              0              0              43
  43  CounterTop      -0.360         0.946          1.093          0              0              0
  44  StoveBurner     1.412          0.923          -0.335         0              0              0
  45  StoveKnob       1.878          1.093          0.018          287.989        90             0
  46  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  47  Cabinet         -2.446         1.948          2.924          0              0              0
  48  Drawer          -2.276         0.792          0.902          0              0              0
  49  Cabinet         -2.145         0.402          1.578          0              0              0
  50  Cabinet         0.149          2.008          -1.603         0              90             0
  51  StoveBurner     1.691          0.923          -0.335         0              0              0
  52  CounterTop      1.585          0.946          0.405          0              0              0
  53  CounterTop      0.474          0.946          -1.625         0              0              0
  54  StoveBurner     1.691          0.923          0.064          0              0              0
  55  Cabinet         -2.446         1.948          1.687          0              0              0
  56  Cabinet         -2.446         1.948          1.640          0              0              0
  57  Sink            1.381          0.810          -1.271         0              225            0
  58  StoveKnob       1.878          1.093          0.150          287.989        90             0
  59  Cabinet         -2.145         0.402          -0.236         0              0              0
  60  Drawer          -2.276         0.792          0.437          0              0              0
  61  Drawer          -2.276         0.792          -0.027         0              0              0
  62  Cabinet         1.572          2.008          0.474          0              0              0
  63  Cabinet         1.572          2.008          -0.775         0              0              0
  64  Cabinet         -2.445         2.148          -1.275         0              0              0
  65  Cabinet         -2.446         2.148          -0.284         0              0              0
  66  Cabinet         -2.446         1.948          0.355          0              0              0
  67  Cabinet         -2.446         1.948          0.405          0              0              0
  68  Cabinet         -2.145         0.402          0.644          0              0              0
  69  Cabinet         -2.145         0.402          0.695          0              0              0
  70  Cabinet         -2.285         1.968          -1.325         0              180            0
  71  CounterTop      -1.485         0.946          1.319          0              0              0
  72  StoveBurner     1.411          0.923          0.064          0              0              0
  73  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  74  Drawer          -2.276         0.792          1.368          0              0              0
  75  Fridge          -2.475         0.0            -0.782         0              90             0
  76  LightSwitch     -0.929         1.350          -1.950         0              0              0
  77  Toaster         -2.564         0.900          1.876          0              90             0
  78  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  79  Window          1.508          1.534          -1.496         90             135            0
  80  Window          1.973          1.521          1.121          90             90             0
  81  SinkBasin       1.149          0.753          -1.380         0              225            0
  82  GarbageCan      1.646          -0.000         0.679          0              0              0
  83  Microwave       -2.580         0.900          2.440          0              90             0
  84  Stool           0.439          0.010          0.747          0              0              0
  85  Stool           -2.303         0.010          1.839          0              0              0
  86  Faucet          1.235          1.138          -1.473         0              225            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: turn left and walk towards the door. turn left again and walk over to the sink | STEP 2: pick up the spoon from the counter | STEP 3: turn left twice and walk towards the fridge.  turn right and then left and walk to the counter | STEP 4: place the spoon in the drawer | STEP 5: turn around and walk to the island | STEP 6: pick up the spoon from the counter | STEP 7: turn around and walk over to the counter | STEP 8: place the spoon in the drawer and close it | END