Task: Put spoons away 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           -2.5           0.900          -1.0           0              90             0
   1  ButterKnife     0.701          0.919          -1.649         0              270            0              51
   2  ButterKnife     -2.614         0.952          0.524          0              270            0              86
   3  Pot             1.361          0.962          0.561          0              270            0              58
   4  Fork            -2.340         0.952          0.255          0              90             0              86
   5  Fork            0.446          0.773          0.305          0              0              0              49
   6  Spoon           0.753          0.920          -1.449         0              0              0              51
   7  Spatula         1.658          0.927          -1.654         0              180            0              53
   8  Spatula         -1.928         0.967          0.165          0              180            0              86
   9  Egg             0.300          0.947          0.209          0              0              0              52
  10  Plate           -0.634         0.111          -1.508         0              0              0              67
  11  Knife           1.535          0.937          -1.737         0              0              0              53
  12  Knife           0.856          0.944          -1.582         0              270            0              51
  13  SoapBottle      -2.614         0.950          0.435          0              90             0              86
  14  SoapBottle      -0.451         0.910          -1.820         0              0              0              53
  15  Tomato          -2.340         1.001          0.165          0              90             0              86
  16  Bowl            1.828          1.328          -1.846         0              180            0              69
  17  SaltShaker      0.167          0.908          0.375          0              0              0              52
  18  PepperShaker    -1.928         0.948          0.524          0              90             0              86
  19  Lettuce         1.785          1.002          0.623          0              0              0              68
  20  Lettuce         -1.791         1.042          0.345          0              90             0              86
  21  Mug             -1.791         0.947          0.704          0              90             0              86
  22  Apple           1.785          0.979          0.209          0              0              0              68
  23  Apple           -0.975         1.082          -1.803         0              0              0              75
  24  Bread           1.299          0.978          -1.532         0              0              0              53
  25  Knife           -0.267         0.937          -1.654         0              0              0              53
  26  Fork            -2.477         0.952          0.345          0              180            0              86
  27  Bowl            0.271          0.108          -1.547         0              180            0              50
  28  Kettle          -0.359         0.913          -1.489         0              0              0              53
  29  Cup             -2.135         1.050          -1.806         0              0              0              83
  30  Tomato          -2.047         0.560          -1.677         0              0              0              83
  31  SoapBottle      -1.928         0.950          0.704          0              90             0              86
  32  Plate           0.071          0.107          0.320          0              0              0              63
  33  Pot             1.007          0.962          0.561          0              270            0              55
  34  Spatula         -2.065         0.967          0.704          0              0              0              86
  35  PaperTowelRoll  1.968          1.016          0.706          0              0              0              68
  36  Egg             0.167          0.947          0.292          0              0              0              52
  37  Lettuce         -2.065         1.042          0.255          0              90             0              86
  38  SaltShaker      0.328          0.106          0.270          0              0              0              64
  39  PepperShaker    -0.175         0.908          -1.406         0              0              0              53
  40  Apple           1.663          0.979          0.375          0              0              0              68
  41  ButterKnife     -2.614         0.952          0.255          0              270            0              86
  42  Potato          -2.477         0.982          0.255          0              90             0              86
  43  Pan             1.022          0.959          0.288          0              219.190        0              65
  44  DishSponge      0.562          0.109          0.346          0              0              0              64
  45  Spoon           0.753          0.920          -1.715         0              0              0              51
  46  Mug             -0.644         1.323          -1.846         0              180            0              47
  47  Cabinet         -0.193         1.688          -1.648         0              180            0
  48  StoveBurner     1.360          0.957          0.293          0              180            0
  49  Drawer          0.499          0.792          0.296          0              0              0
  50  Cabinet         0.095          0.400          -1.352         0              180            0
  51  Sink            0.711          0.817          -1.772         0              270            0
  52  CounterTop      0.280          0.947          0.458          0              0              0
  53  CounterTop      -0.680         0.947          -1.654         0              0              0
  54  Drawer          1.825          0.792          0.296          0              0              0
  55  StoveBurner     1.007          0.957          0.561          0              270            0
  56  Drawer          -0.150         0.792          -1.496         0              0              0
  57  Drawer          -0.586         0.792          -1.496         0              0              0
  58  StoveBurner     1.360          0.957          0.561          0              270            0
  59  Drawer          0.024          0.792          0.296          0              0              0
  60  Cabinet         1.079          0.400          -1.349         0              180            0
  61  Cabinet         1.669          0.402          0.151          0              0              0
  62  Cabinet         0.055          0.402          -1.351         0              0              0
  63  Cabinet         -0.180         0.402          0.151          0              0              0
  64  Cabinet         0.729          0.402          0.151          0              0              0
  65  StoveBurner     1.007          0.957          0.293          0              180            0
  66  Drawer          -1.100         0.792          -1.496         0              0              0
  67  Cabinet         -0.396         0.402          -1.351         0              0              0
  68  CounterTop      1.776          0.947          0.458          0              0              0
  69  Cabinet         1.974          1.688          -1.648         0              180            0
  70  Cabinet         -0.820         0.400          -1.349         0              180            0
  71  Toaster         0.305          0.900          0.552          0              180            0
  72  LightSwitch     -2.756         1.307          -0.987         0              90             0
  73  Window          0.582          1.613          -1.967         90             0              0
  74  Window          1.969          1.5            -0.615         90             270            0
  75  Microwave       -1.037         0.900          -1.723         0              0              0
  76  SinkBasin       0.377          0.765          -1.655         0              270            0
  77  CoffeeMachine   0.618          0.900          0.600          0              180            0
  78  StoveKnob       1.246          0.913          0.118          45             180            0
  79  StoveKnob       1.373          0.913          0.118          45             180            0
  80  StoveKnob       0.995          0.913          0.118          45             180            0
  81  StoveKnob       1.126          0.913          0.118          45             180            0
  82  GarbageCan      -0.368         -0.029         0.539          0              90             0
  83  Fridge          -2.134         0.0            -1.690         0              0              0
  84  Faucet          0.549          1.046          -1.833         0              232.527        0
  85  Stool           -1.475         0.000          0.414          1.233          280.375        0
  86  DiningTable     -2.255         -0.004         0.432          0              0              0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Walk straight ahead toward the window to approach the sink on the right. | STEP 2: Pick up the spoon from the left side of the sink. | STEP 3: Turn directly around to approach the last drawer on your right under the counter. | STEP 4: Open the drawer, place the spoon inside and close the drawer. | STEP 5: Turn to your left and approach the sink again. | STEP 6: Pick up the last spoon on the counter. | STEP 7: Turn around and walk back to the same drawer you put the first spoon into. | STEP 8: Open the drawer and put the second spoon next to the first spoon and close the drawer again. | END