Task: place a clean spatula inside of the pullout drawer in the corner of the kitchen

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          2.0            0              270            0
   1  Ladle           1.342          1.700          -0.658         0              0              0              67
   2  Ladle           -2.039         0.954          -1.448         0              0              0              77
   3  Kettle          -2.107         0.112          -1.632         0              0              0              82
   4  Kettle          1.343          0.912          0.372          0              0              0              79
   5  ButterKnife     -1.835         0.910          0.118          0              90             0              81
   6  ButterKnife     0.320          0.919          -1.657         0              270            0              58
   7  DishSponge      0.528          0.773          -1.533         0              0              0              83
   8  DishSponge      0.251          0.919          -1.556         0              270            0              58
   9  Glassbottle     1.426          1.368          2.476          0              270            0              98
  10  Glassbottle     -2.323         0.911          0.032          0              0              0              81
  11  Fork            0.149          0.920          -1.657         0              270            0              58
  12  Fork            -2.079         0.911          0.118          0              0              0              81
  13  Spoon           0.320          0.920          -1.657         0              270            0              58
  14  Spatula         -1.732         0.925          -1.620         0              90             0              77
  15  Egg             0.115          0.948          -1.556         0              270            0              58
  16  Cup             -0.406         0.117          -1.586         0              0              0              65
  17  Cup             1.376          1.367          2.351          0              270            0              98
  18  SoapBottle      1.341          0.214          1.08           0              270            0              96
  19  SoapBottle      1.208          0.115          -1.071         0              0              0              64
  20  Tomato          0.149          0.959          -1.758         0              270            0              58
  21  Tomato          -1.712         0.950          0.032          0              0              0              81
  22  Bowl            -1.796         0.117          -1.586         0              0              0              86
  23  PepperShaker    -1.809         0.905          -1.965         0              0              0              77
  24  PepperShaker    -1.809         0.905          -1.448         0              0              0              77
  25  SaltShaker      1.414          1.157          0.370          0              180            0              85
  26  Lettuce         1.454          1.231          -1.688         0              0              0              85
  27  Mug             1.375          1.362          1.851          0              270            0              98
  28  Apple           0.285          0.954          -1.758         0              270            0              58
  29  Apple           1.454          1.196          -1.002         0              0              0              85
  30  Tomato          0.475          0.951          -1.448         0              0              0              79
  31  Glassbottle     1.208          0.118          0.313          0              0              0              62
  32  Knife           -2.201         0.940          0.291          0              0              0              81
  33  Plate           0.589          0.117          -1.585         0              90             0              73
  34  Fork            -1.957         0.911          0.377          0              0              0              81
  35  Ladle           0.664          0.955          -1.704         0              0              0              79
  36  Potato          1.454          1.203          -1.345         0              0              0              85
  37  Lettuce         -2.079         0.979          0.377          0              0              0              81
  38  Kettle          -1.431         0.949          -1.525         0              0              0              87
  39  Pen             -2.039         0.913          -1.448         0              0              0              74
  40  SaltShaker      -1.809         0.905          -1.793         0              0              0              77
  41  Cup             1.388          1.720          1.901          0              270            0              98
  42  Egg             0.320          0.948          -1.607         0              270            0              58
  43  Spatula         -1.809         0.925          -1.793         0              0              0              77
  44  Bowl            0.808          1.656          -1.839         0              0              0              68
  45  SprayBottle     -1.962         0.909          -1.534         0              0              0              77
  46  Pan             1.342          1.655          -1.264         0              0              0              71
  47  SoapBottle      0.171          0.114          -1.631         0              90             0              76
  48  Pot             0.967          0.9            0.249          0              0              0              79
  49  ButterKnife     -1.835         0.910          0.463          0              0              0              81
  50  PepperShaker    -1.881         1.651          -1.866         0              90             0              60
  51  DishSponge      1.520          1.655          -0.421         0              0              0              67
  52  Bread           1.164          0.975          -0.16          0              300.000        0              79
  53  Apple           1.459          0.249          1.08           0              0              0              96
  54  Spoon           1.035          0.776          0.485          0              0              0              56
  55  Mug             -0.619         0.106          -1.584         0              0              0              66
  56  Drawer          0.860          0.75           0.430          0              0              0
  57  Drawer          0.871          0.75           -1.134         0              0              0
  58  Sink            0.156          0.817          -1.801         0              270            0
  59  Cabinet         -0.868         2.005          -1.690         0              0              0
  60  Cabinet         -1.661         2.059          -1.684         0              90             0
  61  Cabinet         -0.817         2.059          -1.689         0              0              0
  62  Cabinet         0.860          0.402          0.665          0              0              0
  63  Cabinet         0.860          0.402          -0.552         0              0              0
  64  Cabinet         0.860          0.402          -1.365         0              0              0
  65  Cabinet         -0.244         0.402          -1.389         0              0              0
  66  Cabinet         -0.815         0.402          -1.389         0              0              0
  67  Cabinet         1.159          2.059          -0.334         0              0              0
  68  Cabinet         0.488          2.059          -1.689         0              0              0
  69  Cabinet         -0.193         2.059          -1.689         0              0              0
  70  Drawer          0.860          0.75           -0.699         0              0              0
  71  Cabinet         1.159          2.059          -1.019         0              0              0
  72  Cabinet         -1.611         2.005          -1.690         0              0              0
  73  Cabinet         0.832          0.401          -1.393         0              90             0
  74  Drawer          -2.105         0.75           -1.389         0              0              0
  75  StoveBurner     -1.081         0.941          -1.809         0              0              0
  76  Cabinet         -0.202         0.401          -1.391         0              90             0
  77  CounterTop      -1.973         0.945          -1.707         0              0              0
  78  Drawer          -0.375         0.75           -1.389         0              0              0
  79  CounterTop      1.164          0.946          -0.649         0              0              0
  80  StoveBurner     -1.081         0.941          -1.527         0              0              0
  81  CounterTop      -2.096         0.945          0.291          0              0              0
  82  Cabinet         -2.237         0.402          -1.389         0              0              0
  83  Drawer          0.584          0.75           -1.389         0              0              0
  84  Drawer          -1.795         0.75           -1.389         0              0              0
  85  CounterTop      1.5            1.197          -0.654         0              0              0
  86  Cabinet         -1.667         0.402          -1.389         0              0              0
  87  StoveBurner     -1.430         0.941          -1.525         0              0              0
  88  Drawer          -0.685         0.75           -1.389         0              0              0
  89  StoveBurner     -1.430         0.941          -1.809         0              0              0
  90  LightSwitch     -2.539         1.289          2.568          0              90             0
  91  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  92  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  93  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  94  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  95  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  96  GarbageCan      1.343          0.015          1.041          0              0              0
  97  HousePlant      1.440          1.153          0.593          0              0              0
  98  Fridge          1.417          0.0            2.101          0              0              0
  99  Window          -0.486         1.452          3.302          90             0              0
 100  SinkBasin       -0.063         0.765          -1.713         0              270            0
 101  Microwave       1.422          1.150          0.022          0              270            0
 102  Toaster         -2.066         0.900          -1.848         0              0              0
 103  Stool           -1.994         0.010          0.882          0              0              0
 104  Faucet          -0.096         1.041          -1.867         0              270            0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: walk forwards a bit and then hang a left, walk to the end of the room and approach the kitchen counter on your right at the end of the room | STEP 2: grab a spatula off of the counter to the left of the pepper grinder | STEP 3: turn left and walk until you reach the sink on the right | STEP 4: place the spatula in the sink and clean it off, then pick it back up | STEP 5: turn left to face the cabinets | STEP 6: place the spatula in the pull out drawer in the corner of the cabinets on the right | END