Task: put two soup spoons in to 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 to the left and move forward just passed the sink on the left and turn to the left to face the counter that is to the right of the sink | STEP 2: pick up the soup spoon with the black handle that is on the counter to the left of the plant | STEP 3: move back slightly to have access to the drawers below the counter | STEP 4: open up the middle drawer on the left and put the spoon in to the drawer, close the drawer | STEP 5: turn to the left and move forward to the table on the left, turn left to face the table | STEP 6: pick up the soup spoon from the table | STEP 7: turn to the left and move passed the sink on the left to the counter to the right of the sink, turn to face the counter | STEP 8: open up the middle drawer on the left, put the spoon in to the drawer and close the drawer | END