Task: put a clean spatula into 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           -3.5           0.900          1.0            0              0              0
   1  Statue          0.773          0.914          -0.729         0              0              0              61
   2  Vase            -0.846         0.934          0.086          0              0              0              60
   3  Potato          -0.753         0.807          -0.400         0              90             0              81
   4  CreditCard      0.875          0.492          -0.731         0              270            0              64
   5  CreditCard      -1.104         0.930          -0.118         0              0              0              60
   6  CellPhone       -0.624         0.930          -1.463         0              0              0              60
   7  DishSponge      0.960          0.107          -2.052         0              0              0              65
   8  ButterKnife     1.114          0.911          -0.381         0              0              0              61
   9  Spoon           0.833          0.154          -0.650         0              270            0              63
  10  Spoon           1.114          0.912          0.139          0              270            0              61
  11  Spatula         -0.698         0.948          0.315          0              0              0              60
  12  Spatula         0.859          0.926          -0.381         0              0              0              61
  13  Egg             -0.772         0.971          -1.154         0              0              0              60
  14  Egg             0.905          1.439          1.444          0              270            0              83
  15  Plate           1.101          1.669          -1.961         0              270            0              59
  16  Tomato          -0.477         0.974          0.086          0              0              0              60
  17  Tomato          1.199          0.952          -0.034         0              0              0              61
  18  SoapBottle      0.960          0.108          -2.292         0              0              0              65
  19  SaltShaker      -1.981         0.878          2.719          0              0              0              87
  20  SaltShaker      1.082          2.204          -1.626         0              270            0              67
  21  PepperShaker    0.773          0.907          -1.965         0              0              0              66
  22  PepperShaker    -1.467         0.550          2.718          0              0              0              86
  23  Bread           0.944          0.992          0.139          0              0              0              61
  24  Bread           0.905          0.944          1.063          0              270            0              83
  25  Mug             -1.292         0.928          -0.905         0              0              0              60
  26  Statue          -1.292         0.936          0.144          0              0              0              60
  27  Glassbottle     -1.054         0.179          0.641          0              180            0              80
  28  Bread           0.944          0.992          -0.381         0              0              0              61
  29  CreditCard      0.773          0.908          -2.308         0              0              0              66
  30  CellPhone       -0.698         0.930          -0.143         0              90             0              60
  31  Potato          0.966          1.673          1.349          0              270            0              83
  32  Knife           -0.624         0.957          -1.154         0              0              0              60
  33  Fork            0.773          0.911          -0.208         0              0              0              61
  34  Pan             0.848          0.946          -1.080         0              0              0              54
  35  Lettuce         0.866          1.688          1.209          9.746          11.103         0              83
  36  Plate           -0.753         0.783          -0.832         0              90             0              81
  37  Apple           1.028          1.845          -1.339         0              270            0              82
  38  Pot             1.077          0.950          -1.504         0              0              0              56
  39  Spatula         -1.167         0.948          -0.380         0              0              0              60
  40  PaperTowelRoll  -1.878         0.986          2.746          0              0              0              87
  41  Tomato          -0.587         0.821          -0.573         0              90             0              81
  42  Egg             0.966          1.172          1.158          0              270            0              83
  43  SaltShaker      0.794          0.490          -0.648         0              270            0              64
  44  PepperShaker    0.713          0.491          -0.607         0              270            0              64
  45  Vase            1.126          2.207          -0.973         0              270            0              67
  46  ButterKnife     0.773          0.911          0.313          0              0              0              61
  47  SoapBottle      -0.846         0.933          -1.386         0              0              0              60
  48  Vase            1.082          2.209          -1.408         0              270            0              67
  49  Bowl            1.029          0.914          -1.793         0              0              0              66
  50  DishSponge      1.055          1.665          -2.234         0              270            0              59
  51  Spoon           0.875          0.496          -0.607         0              90             0              64
  52  Cup             0.844          1.132          1.444          0              270            0              83
  53  Mug             0.905          1.396          1.254          0              270            0              83
  54  StoveBurner     0.842          0.919          -1.098         0              0              0
  55  Cabinet         0.648          0.474          0.244          0              270            0
  56  StoveBurner     1.077          0.919          -1.504         0              0              0
  57  StoveBurner     0.842          0.919          -1.504         0              0              0
  58  Drawer          0.637          0.755          -0.649         0              270            0
  59  Cabinet         0.949          2.159          -2.375         0              270            0
  60  CounterTop      -1.238         0.968          -0.643         0              0              0
  61  CounterTop      0.931          0.946          -0.208         0              0              0
  62  StoveBurner     1.077          0.919          -1.098         0              0              0
  63  Drawer          0.637          0.268          -0.649         0              270            0
  64  Drawer          0.637          0.547          -0.649         0              270            0
  65  Cabinet         0.648          0.475          -1.714         0              0              0
  66  CounterTop      0.931          0.946          -2.051         0              0              0
  67  Cabinet         0.948          2.439          -1.780         0              270            0
  68  Cabinet         0.948          2.159          -0.140         0              270            0
  69  Cabinet         0.949          2.159          -0.758         0              270            0
  70  Sink            -0.699         0.927          -0.649         0              0              0
  71  LightSwitch     -2.371         1.218          3.049          0              180            0
  72  StoveKnob       0.673          0.899          -1.373         315            90             180
  73  StoveKnob       0.673          0.899          -1.519         315            90             180
  74  StoveKnob       0.673          0.899          -1.086         315            90             180
  75  StoveKnob       0.673          0.899          -1.237         315            90             180
  76  Toaster         0.984          0.900          0.329          0              270            0
  77  Window          0.014          0.998          -2.640         90             0              0
  78  Window          -2.996         0.998          -2.640         90             0              0
  79  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  80  GarbageCan      -0.946         -0.036         0.575          0              180            0
  81  SinkBasin       -0.698         0.765          -0.647         0              90             0
  82  Microwave       1.042          1.680          -1.295         0              270            0
  83  Fridge          0.966          0.0            1.253          0              0              0
  84  HousePlant      -1.354         0.919          -1.540         0              0              0
  85  Shelf           -1.635         0.172          2.715          0              180            0
  86  Shelf           -1.635         0.552          2.715          0              180            0
  87  Shelf           -1.635         0.880          2.715          0              180            0
  88  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  89  Chair           -1.832         0.002          -0.034         0              119.999        0
  90  Chair           -1.854         0.002          -0.956         0              67.887         0
  91  Faucet          -0.867         1.161          -0.651         0              0              0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: turn to the right and move across the room towards the refrigerator, turn right at the refrigerator moving forward towards the dishwasher on the left, turn left to face the counter | STEP 2: pick up the spatula that is on the counter in front of the loaf of bread on the right | STEP 3: turn around and move towards the sink | STEP 4: put the spatula into the sink and turn on the water to clean the spatula and pick up the spatula out from of the sink | STEP 5: turn around to face the counter to the left of the stove | STEP 6: open the top drawer that is to the left of the stove, put the spatula into the drawer and close it | END