Task: clean up a spoon and a pan then put it on the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.900          2.75           0              180            0
   1  Pan             1.761          1.027          -1.599         0              0              0              102
   2  Potato          1.777          1.068          1.555          0              136.999        0              59
   3  Ladle           -0.731         0.839          1.953          0              0              0              64
   4  Ladle           3.062          0.071          -0.740         0              90             0              100
   5  ButterKnife     2.525          0.764          3.445          0              0              0              60
   6  Glassbottle     2.683          1.027          1.004          0              136.999        0              59
   7  Pot             2.116          1.027          -1.84          0              270            0              63
   8  Spatula         1.953          1.041          1.998          0              136.999        0              59
   9  Spatula         2.425          1.041          -1.667         0              270            0              59
  10  Spoon           -0.802         0.801          0.454          0              0              0              61
  11  Spoon           2.395          0.765          4.362          0              329.999        0              60
  12  Fork            1.347          0.790          -1.546         0              0              0              66
  13  Egg             2.599          0.808          4.145          0              0              0              60
  14  Egg             2.194          1.070          1.107          0              136.999        0              59
  15  Cup             2.800          0.763          4.118          0              270            0              60
  16  Plate           2.359          0.764          4.129          0              329.999        0              60
  17  Knife           1.533          1.052          1.606          0              136.999        0              59
  18  Knife           2.371          0.827          1.105          0              47.0           0              72
  19  Tomato          -1.013         1.495          -0.738         0              90             0              103
  20  SoapBottle      3.043          1.025          0.068          0              0              0              59
  21  Bowl            -1.021         1.778          2.312          0              0              0              97
  22  SaltShaker      2.410          1.023          -1.667         0              90             0              59
  23  SaltShaker      1.529          1.023          -1.987         0              90             0              59
  24  PepperShaker    2.528          0.760          4.152          0              225            0              60
  25  Bread           -0.987         0.854          -0.627         0              90             0              103
  26  Bread           -0.544         1.095          2.066          0              0              0              62
  27  Lettuce         2.855          0.822          3.567          0              329.999        0              60
  28  Lettuce         -0.851         0.874          1.181          0              90             0              116
  29  Apple           -0.782         0.866          1.414          0              90             0              116
  30  Apple           -0.907         0.384          -0.738         0              90             0              103
  31  Pan             2.042          1.017          1.779          0              0              0              59
  32  Glassbottle     -0.906         0.786          -0.295         0              90             0              103
  33  Knife           2.191          0.789          3.710          0              225            0              60
  34  SoapBottle      -0.541         0.047          0.530          0              0              0              62
  35  Egg             -0.916         0.121          2.779          0              0              0              114
  36  Fork            -0.782         0.817          1.259          0              180            0              116
  37  Potato          2.451          0.806          3.747          0              270            0              60
  38  Ladle           2.626          0.803          3.895          0              270            0              60
  39  Tomato          2.754          1.080          1.350          0              136.999        0              59
  40  Pot             -0.715         0.049          1.954          0              0              0              88
  41  WineBottle      1.916          1.027          1.405          0              136.999        0              59
  42  Plate           -0.922         1.442          -0.184         0              90             0              103
  43  Spatula         2.959          1.041          0.068          0              0              0              59
  44  PaperTowelRoll  -1.130         1.131          1.243          0              0              0              62
  45  Lettuce         2.875          1.085          -0.846         0              0              0              59
  46  Apple           -0.544         1.077          0.877          0              0              0              62
  47  SaltShaker      2.439          1.023          -1.881         0              90             0              59
  48  PepperShaker    2.166          0.760          4.017          0              329.999        0              60
  49  ButterKnife     2.801          0.764          3.821          0              270            0              60
  50  Bread           2.788          0.832          4.412          0              225            0              60
  51  Cup             -0.968         1.440          -0.406         0              90             0              103
  52  DishSponge      2.818          0.800          -1.086         0              0              0              67
  53  Bowl            1.895          1.859          -1.843         0              0              0              105
  54  Spoon           2.376          0.765          3.445          0              0              0              60
  55  Mug             2.790          1.021          -1.151         0              0              0              59
  56  Sink            -0.716         1.023          1.333          0              0              0
  57  StoveBurner     1.835          1.018          -1.840         0              90             0
  58  StoveBurner     2.177          1.018          -1.599         0              0              0
  59  CounterTop      2.812          0.992          0.675          0              0              0
  60  DiningTable     2.419          0.003          3.930          0              0              0
  61  Drawer          -0.643         0.828          0.616          0              0              0
  62  CounterTop      -0.813         1.062          2.188          0              0              0
  63  StoveBurner     2.115          1.018          -1.840         0              270            0
  64  Drawer          -0.643         0.831          1.953          0              0              0
  65  Drawer          -0.643         0.833          2.418          0              0              0
  66  Drawer          1.347          0.836          -1.539         0              0              0
  67  Drawer          2.693          0.833          -1.131         0              0              0
  68  Drawer          2.693          0.833          -0.699         0              0              0
  69  Drawer          2.693          0.833          -0.267         0              0              0
  70  Drawer          2.693          0.833          0.163          0              0              0
  71  Drawer          2.524          0.833          0.720          0              2.000          0
  72  Drawer          2.232          0.833          1.036          0              2.000          0
  73  Drawer          1.936          0.833          1.354          0              2.000          0
  74  Drawer          1.646          0.833          1.670          0              2.000          0
  75  Cabinet         1.504          2.475          -1.710         0              0              0
  76  Cabinet         -0.823         2.220          1.621          0              0              0
  77  Cabinet         -0.823         2.220          0.615          0              0              0
  78  Cabinet         1.136          0.388          -1.355         0              0              0
  79  Cabinet         -0.356         0.383          2.626          0              0              0
  80  Cabinet         2.745          2.220          -1.690         0              0              0
  81  Cabinet         1.882          0.383          1.017          0              0              0
  82  Cabinet         1.307          0.473          1.640          0              0              0
  83  Cabinet         1.892          0.383          1.006          0              0              0
  84  Cabinet         2.467          0.383          0.383          0              0              0
  85  Cabinet         2.466          0.383          -0.475         0              0              0
  86  Cabinet         2.466          0.473          0.371          0              0              0
  87  Cabinet         2.386          2.475          -1.710         0              0              0
  88  Cabinet         -0.356         0.383          1.712          0              0              0
  89  Cabinet         2.745          2.220          0.019          0              0              0
  90  Cabinet         -0.663         2.496          0.157          0              0              0
  91  Cabinet         -0.663         2.496          -0.868         0              0              0
  92  Cabinet         -0.356         0.383          0.269          0              0              0
  93  Cabinet         -0.823         2.220          1.603          0              0              0
  94  Cabinet         -0.662         2.234          0.586          0              0              0
  95  Cabinet         2.745          2.220          -0.843         0              0              0
  96  Cabinet         2.745          2.220          -0.827         0              0              0
  97  Cabinet         -0.823         2.220          2.608          0              0              0
  98  Cabinet         2.732          2.226          -1.709         0              0              0
  99  Cabinet         1.137          2.226          -1.709         0              0              0
 100  Cabinet         2.466          0.383          -0.491         0              0              0
 101  Cabinet         2.466          0.383          -1.339         0              0              0
 102  StoveBurner     1.761          1.018          -1.599         0              0              0
 103  Fridge          -0.908         0.0            -0.405         0              0              0
 104  HousePlant      2.517          1.016          1.822          0              0              0
 105  Microwave       1.939          1.745          -1.826         0              0              0
 106  StoveKnob       2.017          1.041          -1.514         0              180            180
 107  StoveKnob       1.934          1.041          -1.514         0              180            180
 108  StoveKnob       2.017          1.041          -1.589         0              180            180
 109  StoveKnob       1.934          1.041          -1.589         0              180            180
 110  Window          1.756          1.608          4.762          90             0              0
 111  HousePlant      2.171          1.004          2.091          0              0              0
 112  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 113  LightSwitch     -0.099         1.410          -2.066         0              0              0
 114  GarbageCan      -0.951         -0.029         2.826          0              0              0
 115  Toaster         -1.007         1.018          2.238          0              90             0
 116  SinkBasin       -0.714         0.805          1.348          0              90             0
 117  Chair           1.615          0.004          4.310          0              107.976        0
 118  Faucet          -1.120         1.013          1.334          0              90             0
 119  Chair           2.759          0.004          3.086          0              358.967        0
 120
 121  NorthWall
 122  EastWall
 123  SouthWall
 124  WestWall

Plan:
STEP 1: turn left and walk straight then turn left and walk straight towards the table | STEP 2: pick up the spoon next to the potato on the table | STEP 3: turn left and walk straight then turn left again and walk straight towards the counter top edge and turn left again then turn right and walk straight to the stove | STEP 4: put the spoon down onto the pan on the stove | STEP 5: pick up the pan and the spoon together | STEP 6: turn right walk straight then turn right again and walk straight towards the table then turn right towards the wall then left again towards the table | STEP 7: put the spoon and pan down on the table | END