Task: put a ladle in a kitchen drawer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.900          -0.5           0              180            0
   1  Pan             2.706          1.026          -0.541         0              0              0              57
   2  Potato          -0.577         0.858          1.337          0              90             0              114
   3  Ladle           2.808          0.071          -0.689         0              0              0              98
   4  Ladle           2.451          0.803          4.145          0              0              0              58
   5  Ladle           1.638          1.066          1.704          0              136.999        0              57
   6  WineBottle      2.555          0.765          3.865          0              225            0              58
   7  Glassbottle     -0.669         1.028          0.323          0              0              0              60
   8  Spatula         1.913          0.816          1.207          0              47.0           0              71
   9  Spoon           2.451          0.765          4.495          0              90             0              58
  10  Spoon           -0.851         0.817          1.414          0              180            0              114
  11  Fork            -0.544         1.028          0.508          0              0              0              60
  12  Egg             -0.544         1.071          0.785          0              0              0              60
  13  Cup             -0.645         0.815          1.181          0              90             0              114
  14  Knife           2.873          0.826          0.118          0              90             0              68
  15  Knife           2.788          0.789          4.412          0              225            0              58
  16  Tomato          -0.858         0.388          -0.516         0              90             0              101
  17  Tomato          -0.947         0.839          -0.073         0              90             0              101
  18  SoapBottle      2.376          0.763          4.495          0              0              0              58
  19  Bowl            2.730          0.031          -0.220         0              0              0              83
  20  Bowl            -0.922         1.440          -0.627         0              90             0              101
  21  SaltShaker      2.528          0.760          4.152          0              225            0              58
  22  PepperShaker    1.529          1.023          -1.987         0              90             0              57
  23  Bread           1.350          1.094          -1.454         0              90             0              57
  24  Bread           2.302          0.832          4.145          0              0              0              58
  25  Lettuce         2.231          1.085          1.699          0              317.0          0              57
  26  Mug             2.605          0.759          4.334          0              225            0              58
  27  Apple           2.276          0.814          3.895          0              270            0              58
  28  Apple           -1.101         0.374          -0.627         0              90             0              101
  29  Pan             2.042          1.017          1.779          0              0              0              57
  30  Glassbottle     -0.544         1.028          2.556          0              0              0              60
  31  Knife           -0.782         0.841          1.570          0              180            0              114
  32  SoapBottle      2.607          1.779          -1.911         0              0              0              96
  33  Egg             -0.922         1.486          -0.295         0              90             0              101
  34  Fork            -0.544         1.028          2.066          0              90             0              60
  35  Potato          2.441          0.806          3.540          0              329.999        0              58
  36  Ladle           2.160          1.066          1.354          0              136.999        0              57
  37  Tomato          -0.906         0.839          -0.295         0              90             0              101
  38  Pot             1.836          1.027          -1.84          0              90             0              55
  39  WineBottle      2.763          0.765          3.726          0              329.999        0              58
  40  Plate           2.194          1.027          1.107          0              136.999        0              57
  41  Spatula         2.535          0.816          0.731          0              317.0          0              69
  42  PaperTowelRoll  2.439          1.131          -1.987         0              90             0              57
  43  Lettuce         2.599          0.822          4.495          0              0              0              58
  44  Apple           -0.851         0.866          1.181          0              90             0              114
  45  SaltShaker      2.426          0.760          3.735          0              225            0              58
  46  PepperShaker    2.138          0.760          3.762          0              225            0              58
  47  ButterKnife     2.976          0.764          4.044          0              270            0              58
  48  Bread           2.801          0.832          3.895          0              270            0              58
  49  Cup             2.296          0.763          3.605          0              225            0              58
  50  DishSponge      1.689          0.800          1.649          0              317.0          0              72
  51  Bowl            -0.418         1.025          0.600          0              0              0              60
  52  Spoon           -0.418         1.028          0.323          0              0              0              60
  53  Mug             -0.794         1.022          2.556          0              0              0              60
  54  Sink            -0.716         1.023          1.333          0              0              0
  55  StoveBurner     1.835          1.018          -1.840         0              90             0
  56  StoveBurner     2.177          1.018          -1.599         0              0              0
  57  CounterTop      2.812          0.992          0.675          0              0              0
  58  DiningTable     2.419          0.003          3.930          0              0              0
  59  Drawer          -0.643         0.828          0.616          0              0              0
  60  CounterTop      -0.813         1.062          2.188          0              0              0
  61  StoveBurner     2.115          1.018          -1.840         0              270            0
  62  Drawer          -0.643         0.831          1.953          0              0              0
  63  Drawer          -0.643         0.833          2.418          0              0              0
  64  Drawer          1.347          0.836          -1.539         0              0              0
  65  Drawer          2.693          0.833          -1.131         0              0              0
  66  Drawer          2.693          0.833          -0.699         0              0              0
  67  Drawer          2.693          0.833          -0.267         0              0              0
  68  Drawer          2.693          0.833          0.163          0              0              0
  69  Drawer          2.524          0.833          0.720          0              2.000          0
  70  Drawer          2.232          0.833          1.036          0              2.000          0
  71  Drawer          1.936          0.833          1.354          0              2.000          0
  72  Drawer          1.646          0.833          1.670          0              2.000          0
  73  Cabinet         1.504          2.475          -1.710         0              0              0
  74  Cabinet         -0.823         2.220          1.621          0              0              0
  75  Cabinet         -0.823         2.220          0.615          0              0              0
  76  Cabinet         1.136          0.388          -1.355         0              0              0
  77  Cabinet         -0.356         0.383          2.626          0              0              0
  78  Cabinet         2.745          2.220          -1.690         0              0              0
  79  Cabinet         1.882          0.383          1.017          0              0              0
  80  Cabinet         1.307          0.473          1.640          0              0              0
  81  Cabinet         1.892          0.383          1.006          0              0              0
  82  Cabinet         2.467          0.383          0.383          0              0              0
  83  Cabinet         2.466          0.383          -0.475         0              0              0
  84  Cabinet         2.466          0.473          0.371          0              0              0
  85  Cabinet         2.386          2.475          -1.710         0              0              0
  86  Cabinet         -0.356         0.383          1.712          0              0              0
  87  Cabinet         2.745          2.220          0.019          0              0              0
  88  Cabinet         -0.663         2.496          0.157          0              0              0
  89  Cabinet         -0.663         2.496          -0.868         0              0              0
  90  Cabinet         -0.356         0.383          0.269          0              0              0
  91  Cabinet         -0.823         2.220          1.603          0              0              0
  92  Cabinet         -0.662         2.234          0.586          0              0              0
  93  Cabinet         2.745          2.220          -0.843         0              0              0
  94  Cabinet         2.745          2.220          -0.827         0              0              0
  95  Cabinet         -0.823         2.220          2.608          0              0              0
  96  Cabinet         2.732          2.226          -1.709         0              0              0
  97  Cabinet         1.137          2.226          -1.709         0              0              0
  98  Cabinet         2.466          0.383          -0.491         0              0              0
  99  Cabinet         2.466          0.383          -1.339         0              0              0
 100  StoveBurner     1.761          1.018          -1.599         0              0              0
 101  Fridge          -0.908         0.0            -0.405         0              0              0
 102  HousePlant      2.517          1.016          1.822          0              0              0
 103  Microwave       1.939          1.745          -1.826         0              0              0
 104  StoveKnob       2.017          1.041          -1.514         0              180            180
 105  StoveKnob       1.934          1.041          -1.514         0              180            180
 106  StoveKnob       2.017          1.041          -1.589         0              180            180
 107  StoveKnob       1.934          1.041          -1.589         0              180            180
 108  Window          1.756          1.608          4.762          90             0              0
 109  HousePlant      2.171          1.004          2.091          0              0              0
 110  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 111  LightSwitch     -0.099         1.410          -2.066         0              0              0
 112  GarbageCan      -0.951         -0.029         2.826          0              0              0
 113  Toaster         -1.007         1.018          2.238          0              90             0
 114  SinkBasin       -0.714         0.805          1.348          0              90             0
 115  Chair           1.615          0.004          4.310          0              107.976        0
 116  Faucet          -1.120         1.013          1.334          0              90             0
 117  Chair           2.759          0.004          3.086          0              358.967        0
 118
 119  NorthWall
 120  EastWall
 121  SouthWall
 122  WestWall

Plan:
STEP 1: walk to face counter with ladle and frying pan | STEP 2: pick up ladle from counter | STEP 3: turn to face sink | STEP 4: wash ladle in sink, pick up ladle from sink | STEP 5: turn around to face counter and drawers underneat | STEP 6: put ladle in middle top drawer | END