Task: Put two spoons into 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           -0.75          0.900          1.25           0              0              0
   1  Ladle           -2.011         1.164          0.190          0              90             0              65
   2  Ladle           -0.785         1.087          3.042          0              90             0              55
   3  DishSponge      -3.798         0.112          2.038          0              0              0              76
   4  DishSponge      -2.450         0.487          0.613          0              0              0              68
   5  ButterKnife     -0.538         1.047          2.593          0              0              0              55
   6  ButterKnife     -0.785         1.048          2.817          0              0              0              55
   7  Fork            -0.168         1.048          2.144          0              0              0              55
   8  Spoon           -0.415         1.048          2.369          0              0              0              55
   9  Spoon           -0.168         1.049          1.920          0              0              0              55
  10  Spatula         -1.465         0.946          0.359          0              180            0              77
  11  Spatula         -2.514         1.139          0.473          0              0              0              65
  12  Egg             -0.603         1.155          0.659          0              0              0              67
  13  Cup             -1.199         0.929          0.428          0              0              0              77
  14  Cup             -3.266         0.726          3.061          0              90             0              72
  15  Plate           -0.908         1.046          2.144          0              0              0              55
  16  SoapBottle      -2.137         1.125          0.473          0              0              0              65
  17  SoapBottle      -2.514         1.125          0.095          0              0              0              65
  18  Bowl            -1.522         0.046          0.381          0              0              0              70
  19  SaltShaker      -2.088         0.899          0.612          0              0              0              63
  20  SaltShaker      -1.948         0.091          0.545          0              0              0              57
  21  PepperShaker    -0.908         1.043          3.266          0              0              0              55
  22  PepperShaker    -2.356         0.091          0.613          0              0              0              58
  23  Bread           -2.388         1.211          0.473          0              0              0              65
  24  Bread           -3.373         1.373          3.061          0              90             0              72
  25  Mug             -0.908         1.042          2.817          0              0              0              55
  26  Mug             -1.156         0.044          0.437          0              0              0              59
  27  Apple           -3.506         1.354          2.849          0              90             0              72
  28  Fork            -1.995         0.096          0.579          0              0              0              57
  29  SoapBottle      -3.542         0.113          1.948          0              0              0              76
  30  Pot             -3.572         0.916          2.991          0              90             0              72
  31  Ladle           -0.538         1.086          1.920          0              0              0              55
  32  Potato          -3.742         1.155          0.662          0              0              0              62
  33  Plate           -1.156         0.047          0.608          0              0              0              59
  34  Bread           -0.908         1.134          3.042          0              0              0              55
  35  Lettuce         -0.908         1.124          1.920          0              0              0              55
  36  Spatula         -0.538         1.063          2.369          0              0              0              55
  37  Pan             -3.475         1.133          0.227          0              90             0              51
  38  Egg             -3.291         0.953          2.419          0              90             0              72
  39  Cup             -1.553         0.929          0.221          0              0              0              77
  40  SaltShaker      -0.662         1.044          2.144          0              0              0              55
  41  Knife           -0.715         1.157          0.206          0              90             0              67
  42  Bowl            -0.908         1.044          2.593          0              0              0              55
  43  PepperShaker    -2.514         1.121          0.284          0              0              0              65
  44  ButterKnife     -1.288         0.931          0.359          0              0              0              77
  45  Apple           -1.288         0.998          0.636          0              0              0              77
  46  Tomato          -0.168         1.088          2.369          0              0              0              55
  47  DishSponge      -0.771         1.124          0.296          0              0              0              67
  48  Spoon           -0.785         1.049          2.144          0              90             0              55
  49  Mug             -3.639         1.555          2.778          0              90             0              72
  50  StoveKnob       -3.322         1.053          0.709          45             0              0
  51  StoveBurner     -3.474         1.097          0.227          0              180            0
  52  Sink            -1.394         0.982          0.439          0              0              0
  53  StoveBurner     -3.474         1.097          0.479          0              180            0
  54  StoveKnob       -3.164         1.053          0.709          45             0              0
  55  DiningTable     -0.620         0.017          2.486          0              0              0
  56  Drawer          -2.043         0.608          0.594          0              0              0
  57  Drawer          -2.043         0.216          0.594          0              0              0
  58  Drawer          -2.498         0.216          0.594          0              0              0
  59  Cabinet         -1.001         0.393          0.734          0              0              0
  60  StoveBurner     -3.000         1.097          0.480          0              0              0
  61  StoveKnob       -3.492         1.053          0.709          45             0              0
  62  CounterTop      -3.856         1.160          0.379          0              0              0
  63  Drawer          -2.043         0.937          0.599          0              0              0
  64  Drawer          -2.509         0.937          0.599          0              0              0
  65  CounterTop      -2.280         1.160          0.379          0              0              0
  66  StoveKnob       -2.985         1.053          0.709          45             0              0
  67  CounterTop      -0.514         1.160          0.492          0              0              0
  68  Drawer          -2.498         0.608          0.594          0              0              0
  69  StoveBurner     -3.000         1.097          0.227          0              0              0
  70  Cabinet         -1.733         0.393          0.734          0              0              0
  71  CoffeeMachine   -0.153         1.038          3.193          0              270            0
  72  Fridge          -3.519         0.0            2.717          0              90             0
  73  Window          -1.394         1.924          0.014          90             0              0
  74  Window          -3.266         1.924          0.014          90             0              0
  75  Toaster         -0.225         1.038          2.865          0              270            0
  76  GarbageCan      -3.696         0.002          2.008          0              0              0
  77  SinkBasin       -1.389         0.921          0.428          0              0              0
  78  Microwave       -0.366         1.113          0.430          0              0              0
  79  HousePlant      -2.155         1.101          0.169          0              332.897        0
  80  LightSwitch     -2.584         1.299          3.5            0              180            0
  81  Faucet          -1.393         1.373          0.168          0              270            0
  82  NorthWall
  83  SouthWall
  84  SouthWall

Plan:
STEP 1: Turn left, go forward, turn left after the sink | STEP 2: Pick up the spoon on the counter | STEP 3: Turn around, go forward a bit, turn around | STEP 4: Put the knife into the drawer second from the top | STEP 5: Turn left, go forward, turn left at the table  | STEP 6: Pick up the spoon on the table | STEP 7: Turn left, go forward a bit, turn right, go forward a bit, turn left, go forward, turn left | STEP 8: Put the knife into the drawer second from the top | END