Task: Put two spatulas in 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           -1.0           0.899          0.5            0              0              0
   1  Pencil          -0.104         0.925          4.944          0              0              0              62
   2  Potato          -2.688         1.579          1.633          0              0              0              107
   3  Potato          -0.342         1.369          3.355          0              270            0              110
   4  ButterKnife     -0.411         0.925          5.273          0              0              0              62
   5  ButterKnife     -2.109         0.923          1.951          0              90             0              59
   6  WineBottle      -4.102         0.924          2.882          0              0              0              77
   7  WineBottle      -0.565         0.926          6.261          0              0              0              62
   8  Pot             -2.924         0.930          1.712          0              180            0              74
   9  Fork            -4.033         0.924          5.418          0              90             0              77
  10  Fork            -1.943         0.924          2.026          0              0              0              59
  11  Spoon           -3.135         0.924          5.489          0              90             0              77
  12  Spoon           -4.233         0.792          3.285          0              90             0              109
  13  Spatula         -3.686         0.938          1.951          0              0              0              77
  14  Egg             -0.218         1.371          3.850          0              270            0              110
  15  Plate           -3.323         1.460          5.512          0              90             0              63
  16  Knife           -0.181         0.954          5.603          0              0              0              62
  17  Tomato          -0.334         0.982          5.603          0              0              0              62
  18  Bowl            -1.905         1.450          1.638          0              0              0              96
  19  Bowl            -0.301         1.577          3.349          0              270            0              110
  20  PepperShaker    -0.488         0.921          5.603          0              0              0              62
  21  Lettuce         -4.335         1.018          4.381          0              90             0              77
  22  Lettuce         -4.233         0.886          3.222          0              270            0              109
  23  Bread           -4.26          1.003          5.159          0              90             0              77
  24  Mug             -0.409         0.955          6.557          0              270            0              98
  25  Apple           -2.635         1.599          1.731          0              0              0              107
  26  Apple           -0.301         1.739          4.035          0              270            0              110
  27  Egg             -0.565         0.960          5.932          0              0              0              111
  28  Apple           -4.271         0.844          3.410          0              270            0              109
  29  Knife           -0.258         0.954          4.944          0              0              0              62
  30  Potato          -0.342         1.369          3.850          0              270            0              110
  31  Fork            -1.777         0.924          2.026          0              0              0              59
  32  Bowl            -0.488         0.922          4.944          0              0              0              62
  33  Plate           -4.335         0.924          3.863          0              90             0              77
  34  Lettuce         -4.204         1.018          1.951          0              180            0              77
  35  Bread           -0.258         1.004          5.273          0              0              0              62
  36  Tomato          -3.712         0.125          6.333          0              270            0              103
  37  WineBottle      -0.565         0.926          5.273          0              0              0              62
  38  Spatula         -1.610         0.938          1.724          0              0              0              59
  39  PaperTowelRoll  -0.565         1.029          6.591          0              0              0              62
  40  Cup             -3.127         1.458          5.403          0              90             0              63
  41  Pencil          -4.451         0.923          2.649          0              0              0              77
  42  Pan             -2.454         0.933          2.023          0              240.000        0              65
  43  Pot             -2.924         0.930          2.012          0              0              0              60
  44  SaltShaker      -3.481         0.741          5.162          0              180            0              68
  45  SoapBottle      -0.242         2.133          3.181          0              180            0              79
  46  PepperShaker    -4.184         0.919          4.900          0              90             0              77
  47  ButterKnife     -3.255         0.923          5.336          0              90             0              77
  48  DishSponge      -3.419         0.081          1.889          0              0              0              52
  49  Spoon           -4.196         0.792          3.159          0              270            0              109
  50  Mug             -0.348         1.065          3.726          0              270            0              110
  51  Cabinet         -3.203         1.931          1.777          0              0              0
  52  Cabinet         -3.187         0.390          2.089          0              0              0
  53  Cabinet         -0.637         0.387          6.882          0              180            0
  54  Drawer          -3.797         0.781          1.961          0              0              0
  55  Cabinet         -3.036         0.387          5.029          0              90             0
  56  Drawer          -0.509         0.775          5.268          0              270            0
  57  Drawer          -4.125         0.798          2.499          0              0              0
  58  Cabinet         -0.331         2.249          4.308          0              180            0
  59  CounterTop      -1.872         0.958          1.799          0              0              0
  60  StoveBurner     -2.924         0.924          2.012          0              0              0
  61  Cabinet         -0.331         2.249          6.806          0              180            0
  62  CounterTop      -0.345         0.960          5.603          0              0              0
  63  Cabinet         -3.039         1.935          5.321          0              90             0
  64  Cabinet         -3.922         0.397          2.088          0              0              0
  65  StoveBurner     -2.467         0.924          2.012          0              0              0
  66  Cabinet         -0.331         2.249          5.505          0              180            0
  67  Drawer          -0.509         0.775          4.617          0              270            0
  68  Drawer          -3.509         0.777          5.157          0              180            0
  69  Cabinet         -3.961         0.388          2.878          0              0              0
  70  Cabinet         -3.961         0.388          4.342          0              0              0
  71  Cabinet         -0.637         0.387          5.582          0              180            0
  72  Cabinet         -0.637         0.388          4.299          0              180            0
  73  Cabinet         -0.637         0.388          5.599          0              180            0
  74  StoveBurner     -2.924         0.924          1.712          0              180            0
  75  Drawer          -1.859         0.775          1.961          0              0              0
  76  Cabinet         -0.331         2.249          5.609          0              180            0
  77  CounterTop      -4.260         0.958          4.943          0              90             0
  78  Cabinet         -4.284         1.931          2.226          0              0              0
  79  Cabinet         -0.331         2.249          3.010          0              180            0
  80  Drawer          -3.801         0.777          5.157          0              180            0
  81  Cabinet         -4.112         1.935          5.321          0              90             0
  82  Cabinet         -3.968         0.388          3.662          0              0              0
  83  Drawer          -3.418         0.777          1.961          0              0              0
  84  Drawer          -4.090         0.777          4.661          0              90             0
  85  Faucet          -4.441         0.909          3.288          270            0              0
  86  Cabinet         -0.331         2.249          4.207          0              180            0
  87  Cabinet         -3.961         0.388          2.119          0              0              0
  88  Drawer          -0.509         0.775          5.920          0              270            0
  89  Drawer          -3.193         0.777          5.157          0              180            0
  90  Cabinet         -3.968         0.388          2.894          0              0              0
  91  Cabinet         -3.667         0.387          5.029          0              90             0
  92  StoveBurner     -2.469         0.924          1.712          0              270            0
  93  Cabinet         -1.539         0.388          2.090          0              0              0
  94  Sink            -4.190         0.921          3.279          0              0              0
  95  Cabinet         -3.641         0.387          5.029          0              90             0
  96  Cabinet         -1.583         1.931          1.777          0              0              0
  97  Drawer          -0.509         0.775          6.568          0              270            0
  98  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  99  StoveKnob       -2.347         1.095          1.560          288.012        180            180
 100  StoveKnob       -2.788         1.095          1.560          288.012        180            180
 101  StoveKnob       -2.965         1.095          1.560          288.012        180            180
 102  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 103  GarbageCan      -3.711         -0.030         6.376          0              270            0
 104  Toaster         -3.578         0.912          1.763          0              0              0
 105  Curtains        -4.522         2.252          3.391          90             90             0
 106  Window          -4.868         1.629          3.309          90             270            0
 107  Microwave       -2.693         1.430          1.689          0              0              0
 108  LightSwitch     -1.588         1.169          1.506          0              0              0
 109  SinkBasin       -4.196         0.780          3.276          0              270            0
 110  Fridge          -0.324         -0.001         3.602          0              0              0
 111
 112  NorthWall
 113  EastWall
 114  SouthWall
 115  WestWall

Plan:
STEP 1: Go forward, turn left, go forward, turn left at the counter | STEP 2: Pick up the spatula on the counter | STEP 3: Turn right, go forward to the end of the counter | STEP 4: Put the spatula in the drawer | STEP 5: Turn left, go forward a bit, turn right, go forward a bit, turn right and face the counter | STEP 6: Pick up the spatula on the counter | STEP 7: Turn right, go forward a bit, turn left, go forward a bit, turn around | STEP 8: Put the spatula in the drawer | END