Task: Taking a plate with a spatula on it to a table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.901          -1.25          0              0              0
   1  DishSponge      -0.472         0.745          -3.318         0              0              0              67
   2  DishSponge      -0.176         0.915          -1.432         0              0              0              66
   3  Spatula         -1.707         0.805          -3.661         0              270            0              81
   4  Spoon           -2.439         0.714          -0.433         0              270            0              83
   5  Spoon           -0.257         0.917          -1.370         0              0              0              66
   6  Fork            -0.530         0.747          -0.685         0              90             0              65
   7  Cup             -0.257         0.916          -1.616         0              0              0              66
   8  Plate           -0.374         0.078          -1.337         0              0              0              44
   9  Plate           -2.007         0.079          -3.713         0              0              0              60
  10  Knife           -2.708         0.746          -0.741         0              135            0              83
  11  Knife           -0.244         0.946          -3.012         0              0              0              39
  12  Tomato          -3.027         1.448          -2.002         0              90             0              80
  13  SoapBottle      -3.111         0.713          -0.652         0              225            0              83
  14  Bowl            -2.865         0.714          -0.922         0              0              0              83
  15  SaltShaker      -0.652         0.078          -3.596         0              0              0              41
  16  Mug             -2.930         0.763          -0.358         0              135            0              79
  17  Apple           -3.150         0.759          -0.558         0              270            0              83
  18  Pot             -0.376         0.975          -2.451         0              0              0              64
  19  Egg             -3.010         0.749          -0.552         0              225            0              83
  20  Cup             -0.500         0.916          -1.432         0              0              0              66
  21  Bread           -0.327         0.948          -3.681         0              298.222        0              39
  22  Fork            -2.922         0.717          -0.640         0              315            0              83
  23  Pan             -2.449         0.912          -3.729         0              0              0              39
  24  Potato          -1.058         0.957          -3.729         0              0              0              39
  25  Lettuce         -2.723         0.804          -0.558         0              270            0              83
  26  Tomato          -0.253         0.129          -0.072         0              270            0              78
  27  Apple           -2.270         0.956          -4.026         0              0              0              39
  28  SoapBottle      -2.678         0.713          -0.353         0              0              0              83
  29  Spatula         -1.776         0.805          -3.661         0              270            0              81
  30  SaltShaker      -2.877         0.710          -0.684         0              225            0              83
  31  Knife           -0.352         0.779          -1.253         0              270            0              62
  32  PepperShaker    -0.382         0.742          -3.024         0              0              0              69
  33  ButterKnife     -0.095         0.916          -1.493         0              0              0              66
  34  Plate           -0.396         1.295          -3.774         0              45             0              59
  35  DishSponge      -3.098         0.713          -0.463         0              225            0              83
  36  Spoon           -0.419         0.917          -1.555         0              90             0              66
  37  Mug             -0.096         1.007          -0.900         0              270            0              76
  38  Bowl            -3.130         0.638          -2.002         0              90             0              80
  39  CounterTop      -1.789         0.949          -3.803         0              0              0
  40  Cabinet         -0.577         0.388          -3.476         0              0              0
  41  Cabinet         -0.605         0.388          -3.511         0              0              0
  42  Cabinet         -2.976         0.388          -3.201         0              0              0
  43  Cabinet         -0.577         0.388          -0.447         0              0              0
  44  Cabinet         -0.577         0.388          -1.725         0              0              0
  45  Cabinet         -0.226         1.803          -1.743         0              0              0
  46  Cabinet         -0.228         1.799          -0.447         0              0              0
  47  Cabinet         -6.010         1.139          -6.019         0              0              0
  48  Cabinet         -3.022         2.098          -2.681         0              0              0
  49  Cabinet         -3.022         2.098          -1.743         0              0              0
  50  Cabinet         -0.577         0.388          -2.736         0              0              0
  51  Cabinet         -3.232         1.803          -3.343         0              0              0
  52  Cabinet         -2.811         1.810          -3.764         0              0              0
  53  Cabinet         -1.233         1.810          -3.764         0              0              0
  54  Cabinet         -1.364         0.388          -3.511         0              0              0
  55  Cabinet         -1.380         0.388          -3.511         0              0              0
  56  Cabinet         -0.226         1.803          -2.725         0              0              0
  57  Cabinet         -0.236         2.098          -1.767         0              0              0
  58  Cabinet         -0.236         2.098          -2.705         0              0              0
  59  Cabinet         -0.193         1.210          -4.239         0              0              0
  60  Cabinet         -2.148         0.388          -3.511         0              0              0
  61  Drawer          -3.104         0.797          -2.968         0              0              0
  62  Drawer          -0.449         0.797          -1.410         0              0              0
  63  Sink            -1.786         0.902          -3.748         0              0              0
  64  StoveBurner     -0.376         0.936          -2.451         0              0              0
  65  Drawer          -0.449         0.797          -0.762         0              0              0
  66  CounterTop      -0.268         0.951          -1.089         0              0              0
  67  Drawer          -0.449         0.797          -3.348         0              0              0
  68  StoveBurner     -0.376         0.936          -2.031         0              180            0
  69  Drawer          -0.449         0.797          -2.968         0              0              0
  70  StoveBurner     -0.165         0.936          -2.030         0              180            0
  71  StoveBurner     -0.165         0.936          -2.450         0              0              0
  72  StoveKnob       -0.568         0.903          -2.313         45             270            0
  73  StoveKnob       -0.568         0.903          -2.470         45             270            0
  74  StoveKnob       -0.568         0.903          -2.166         45             270            0
  75  StoveKnob       -0.568         0.903          -2.003         45             270            0
  76  Microwave       -0.143         0.903          -0.908         0              270            0
  77  LightSwitch     -1.108         1.457          0.338          0              180            0
  78  GarbageCan      -0.283         -0.032         -0.035         0              270            0
  79  CoffeeMachine   -3.104         0.837          -0.185         0              135            0
  80  Fridge          -3.188         0.0            -2.184         0              0              0
  81  SinkBasin       -1.786         0.779          -3.747         0              0              0
  82  Toaster         -0.230         0.903          -3.406         0              270            0
  83  DiningTable     -2.800         0.003          -0.505         0              0              0
  84  Chair           -3.044         0.003          -1.223         0              32.194         0
  85  Faucet          -1.791         1.136          -3.913         0              270            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn around and go forwards towards the sink | STEP 2: Pick up the spatula to the right in the sink | STEP 3: Turn around and go back between the table and a counter to the right.  Turn right towards the counter | STEP 4: Open cabinet door and place the spatula on a plate in the cabinet | STEP 5: Pick up the plate with the spatula on it | STEP 6: Turn around and move towards the refrigerator and move between the refrigerator and the table before turning right towards the table | STEP 7: Place the plate with the spatula on it on top of the table to the right of the bowl and below the knife | END