Task: Moving spoons to a kitchen counter

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          -2.0           0              180            0
   1  Glassbottle     -0.365         0.916          -3.368         0              0              0              56
   2  Pencil          -1.912         0.027          -3.727         0              0              0              72
   3  Pen             -2.552         0.926          -1.423         0              0              0              81
   4  Fork            -0.398         0.797          -2.155         0              180            0              74
   5  Fork            -2.096         0.915          -2.115         0              0              0              81
   6  Spoon           -0.350         0.798          -2.008         0              270            0              74
   7  Spoon           -2.096         0.924          -2.345         0              0              0              81
   8  Knife           -0.671         0.938          -3.626         0              0              0              56
   9  Plate           -2.438         0.925          -1.423         0              0              0              81
  10  Plate           -0.383         0.083          -1.758         0              0              0              51
  11  Cup             -2.096         0.922          -1.423         0              0              0              81
  12  Egg             -0.302         0.831          -1.786         0              270            0              74
  13  Egg             -2.780         0.956          -0.963         0              0              0              81
  14  SoapBottle      -0.815         0.914          -3.768         0              0              0              56
  15  Tomato          -0.246         1.454          -0.979         0              270            0              73
  16  Tomato          -0.228         1.754          -0.770         0              270            0              73
  17  Bowl            -2.780         0.922          -1.654         0              0              0              81
  18  Bowl            -0.392         1.097          -0.979         0              270            0              73
  19  Lettuce         -0.392         1.483          -0.769         0              270            0              73
  20  SaltShaker      -2.780         0.919          -1.423         0              0              0              81
  21  PepperShaker    -0.478         0.743          -3.208         0              0              0              67
  22  PepperShaker    -0.391         0.743          -3.208         0              0              0              67
  23  Mug             -0.422         0.076          -2.155         0              0              0              51
  24  Apple           -2.666         0.996          -2.115         0              0              0              81
  25  Apple           -2.438         0.996          -0.963         0              0              0              81
  26  Apple           -1.943         0.100          -3.835         0              0              0              72
  27  Lettuce         -2.562         1.002          -1.677         36.385         0              0              81
  28  Glassbottle     -2.780         0.924          -2.115         0              0              0              81
  29  Egg             -0.188         1.723          -0.979         0              270            0              73
  30  Pen             -2.552         0.926          -0.963         0              0              0              81
  31  Fork            -2.666         0.924          -1.884         0              0              0              81
  32  SoapBottle      -0.600         0.914          -3.909         0              0              0              56
  33  Pencil          -2.210         0.923          -1.884         0              0              0              81
  34  WineBottle      -2.324         0.924          -1.654         0              0              0              81
  35  Spatula         -0.3           0.915          -2.544         0              22.903         0              56
  36  Bread           -0.415         0.952          -3.625         0              0              0              56
  37  Tomato          -0.222         0.979          -3.368         0              0              0              56
  38  Pan             -1.129         0.935          -3.498         0              0              0              54
  39  Cup             -0.186         1.526          -2.914         0              0              0              68
  40  Pot             -1.515         0.935          -3.497         0              0              0              53
  41  SaltShaker      -0.205         1.966          -2.249         0              0              0              63
  42  Potato          -0.447         0.828          -1.934         0              270            0              74
  43  PepperShaker    -0.815         0.912          -3.626         0              0              0              56
  44  ButterKnife     -0.350         0.797          -1.860         0              270            0              74
  45  DishSponge      -2.096         0.923          -1.193         0              0              0              81
  46  Spoon           -2.666         0.924          -1.193         0              0              0              81
  47  Plate           -0.460         0.083          -3.267         0              0              0              62
  48  Knife           -2.270         0.920          -2.143         90             82.747         127.751        81
  49  Mug             -1.204         1.625          -3.903         0              0              0              69
  50  Bowl            -0.392         1.097          -0.665         0              270            0              73
  51  Cabinet         -0.582         0.388          -1.804         0              0              0
  52  StoveBurner     -1.515         0.928          -3.752         0              90             0
  53  StoveBurner     -1.515         0.928          -3.497         0              0              0
  54  StoveBurner     -1.129         0.928          -3.498         0              0              0
  55  Drawer          -0.749         0.779          -3.551         0              0              0
  56  CounterTop      -0.303         0.951          -2.793         0              0              0
  57  Cabinet         -0.883         2.140          -3.687         0              0              0
  58  Cabinet         -0.312         2.140          -1.543         0              0              0
  59  Sink            -0.349         0.907          -2.014         0              0              0
  60  Cabinet         -0.877         0.388          -3.422         0              0              0
  61  Cabinet         -0.582         0.388          -2.197         0              0              0
  62  Cabinet         -0.584         0.388          -3.396         0              0              0
  63  Cabinet         -0.312         2.140          -2.481         0              0              0
  64  Cabinet         -0.330         1.921          -3.390         0              0              0
  65  Cabinet         -1.764         2.140          -3.687         0              0              0
  66  StoveBurner     -1.129         0.928          -3.752         0              90             0
  67  Drawer          -0.454         0.779          -3.268         0              0              0
  68  Cabinet         -0.302         1.916          -2.501         0              0              0
  69  Microwave       -1.317         1.517          -3.801         0              1.440          0
  70  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  71  LightSwitch     -4.323         1.319          0.0            0              180            0
  72  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  73  Fridge          -0.330         0.0            -0.769         0              270            0
  74  SinkBasin       -0.350         0.786          -2.018         0              270            0
  75  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  76  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  77  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  78  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  79  Toaster         -0.181         0.903          -2.764         0              270            0
  80  Window          -2.503         1.782          -4.185         90             180            0
  81  DiningTable     -2.432         0.000          -1.694         0              270            0
  82  Shelf           -2.432         0.150          -1.694         0              270            0
  83  Blinds          -2.536         2.699          -3.959         0              0              0
  84  Faucet          -0.079         0.904          -2.034         270            180            0
  85  Chair           -3.264         0.002          -2.094         0              53.280         0
  86  Chair           -3.240         0.002          -1.253         0              117.257        0
  87  Shelf           -2.432         0.523          -1.694         0              270            0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Turn to the left and face the sink | STEP 2: Pick up the metal spoon from the sink | STEP 3: Turn and face the right at the oven | STEP 4: Set the spoon on the counter to the left | STEP 5: Turn right and walk straight to the green counter and face it | STEP 6: Pick up the metal spoon from the counter | STEP 7: Turn around and face the oven | STEP 8: Set the spoon on the counter to the left | END