Task: Putting a fork in a kitchen drawer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.5            0.930          -1.25          0              0              0
   1  Pan             0.725          0.907          0.494          0              36.810         0              89
   2  Potato          -0.985         1.036          1.205          0              90             0              106
   3  Potato          1.086          0.924          -1.448         0              0              0              104
   4  Ladle           3.140          0.214          0.629          0              0              0              67
   5  Ladle           -0.935         0.937          -0.047         0              0              0              58
   6  DishSponge      -0.635         0.706          -0.704         0              45             0              52
   7  DishSponge      0.422          0.704          -1.475         0              0              0              66
   8  Fork            -0.935         0.900          0.176          0              0              0              58
   9  Mug             1.164          0.706          -1.433         0              0              0              104
  10  Mug             -0.891         1.253          -0.738         0              45             0              77
  11  Bread           -0.789         0.979          0.176          0              0              0              58
  12  PepperShaker    2.988          0.708          -0.744         0              180            0              45
  13  PepperShaker    0.330          0.127          -1.393         0              0              0              48
  14  Tomato          1.242          0.923          -1.531         0              0              0              104
  15  Egg             0.929          1.126          -1.448         0              0              0              104
  16  Egg             1.008          0.763          -1.433         0              0              0              104
  17  Cup             -0.717         0.898          -0.270         0              0              0              58
  18  Plate           3.084          0.188          -0.786         0              0              0              70
  19  Plate           -0.702         0.913          -0.726         0              45             0              58
  20  Glassbottle     3.246          1.265          -0.790         0              0              0              71
  21  SoapBottle      3.235          0.110          1.546          0              225            0              99
  22  Potato          1.242          1.111          -1.475         0              0              0              104
  23  Fork            1.229          0.911          0.747          0              180            0              89
  24  Ladle           1.303          1.711          -1.689         0              90             0              49
  25  Pot             0.423          0.900          0.869          0              0              0              89
  26  Kettle          0.179          0.901          -1.660         0              0              0              79
  27  Spatula         0.710          0.925          0.827          0              0              0              89
  28  Knife           0.336          0.925          -1.660         0              0              0              79
  29  Lettuce         0.840          0.765          -1.422         27.470         0              0              104
  30  Cup             -1.018         0.995          1.470          0              90             0              106
  31  SaltShaker      -0.991         0.322          1.693          0              0              0              93
  32  Egg             0.786          0.960          0.691          0              36.810         0              89
  33  PepperShaker    -0.043         0.896          -1.486         0              45             0              79
  34  ButterKnife     1.098          0.911          0.464          0              0              0              89
  35  Apple           3.355          0.974          -0.798         0              0              0              57
  36  Pan             -0.935         0.899          0.623          0              0              0              58
  37  Bread           -0.862         0.979          0.846          0              0              0              58
  38  CellPhone       0.356          0.905          0.426          0              0              0              89
  39  DishSponge      3.152          0.746          0.098          0              90             0              103
  40  Tomato          1.242          1.284          -1.559         0              0              0              104
  41  Spoon           -0.054         0.323          -1.329         0              45             0              90
  42  Bowl            3.044          0.897          -0.698         0              0              0              57
  43  Mug             -1.085         0.992          1.364          0              270            0              106
  44  Drawer          0.376          0.572          -1.509         0              0              0
  45  Drawer          3.020          0.769          -0.783         0              180            0
  46  Drawer          -0.860         0.577          1.429          0              0              0
  47  StoveBurner     -0.600         0.897          -1.090         0              135            0
  48  Drawer          0.376          0.191          -1.509         0              0              0
  49  Cabinet         1.402          1.874          -1.259         0              0              0
  50  Cabinet         -0.202         1.963          -1.328         0              0              0
  51  Drawer          -0.860         0.765          1.429          0              0              0
  52  Drawer          -0.677         0.765          -0.700         0              0              0
  53  StoveBurner     -0.420         0.897          -0.920         0              135            0
  54  Drawer          3.020          0.769          -0.407         0              180            0
  55  Drawer          -0.860         0.577          0.663          0              0              0
  56  Cabinet         2.819          1.768          -1.850         0              0              0
  57  CounterTop      3.111          0.936          0.019          0              0              0
  58  CounterTop      -1.007         0.935          -0.039         0              0              0
  59  Drawer          -0.860         0.385          0.663          0              0              0
  60  StoveBurner     -0.419         0.897          -1.269         0              315            0
  61  Drawer          -0.047         0.573          -1.324         0              0              0
  62  Drawer          -0.860         0.765          0.663          0              0              0
  63  Drawer          -0.860         0.385          -0.100         0              0              0
  64  Drawer          0.376          0.380          -1.509         0              0              0
  65  Drawer          -0.860         0.765          -0.100         0              0              0
  66  Drawer          0.376          0.765          -1.509         0              0              0
  67  Cabinet         2.849          0.419          0.409          0              0              0
  68  Drawer          -0.047         0.765          -1.324         0              0              0
  69  Cabinet         2.849          0.419          -0.610         0              0              0
  70  Cabinet         2.849          0.419          -0.959         0              0              0
  71  Cabinet         3.069          1.666          -0.709         0              0              0
  72  Cabinet         2.819          1.768          -1.047         0              0              0
  73  Cabinet         0.620          1.874          -1.259         0              0              0
  74  Cabinet         0.140          1.666          -1.559         0              0              0
  75  Cabinet         -0.189         1.666          -1.340         0              0              0
  76  Cabinet         -0.709         1.963          -0.819         0              0              0
  77  Cabinet         -0.920         1.665          -0.620         0              0              0
  78  Drawer          -0.860         0.190          -0.100         0              0              0
  79  CounterTop      0.133          0.935          -1.457         0              0              0
  80  Drawer          3.020          0.769          0.695          0              180            0
  81  Drawer          -0.677         0.577          -0.700         0              0              0
  82  Drawer          -0.860         0.190          1.429          0              0              0
  83  Drawer          -0.047         0.192          -1.324         0              0              0
  84  Drawer          -0.677         0.193          -0.700         0              0              0
  85  Drawer          -0.860         0.577          -0.100         0              0              0
  86  Sink            3.078          0.887          0.086          0              0              0
  87  StoveBurner     -0.239         0.897          -1.089         0              315            0
  88  Drawer          -0.860         0.190          0.663          0              0              0
  89  CounterTop      1.210          0.937          0.463          0              0              0
  90  Drawer          -0.047         0.381          -1.324         0              0              0
  91  Drawer          -0.677         0.387          -0.700         0              0              0
  92  Mirror          -1.295         1.630          0.045          0              0              0
  93  Drawer          -0.860         0.385          1.429          0              0              0
  94  HousePlant      3.196          0.891          -0.368         0              0              0
  95  StoveKnob       -0.090         0.790          -1.009         270            45             0
  96  StoveKnob       -0.280         0.790          -0.819         270            45             0
  97  StoveKnob       -0.180         0.790          -0.920         270            45             0
  98  StoveKnob       -0.370         0.790          -0.720         270            45             0
  99  GarbageCan      3.137          0.025          1.545          0              225            0
 100  Window          3.703          1.675          0.046          90             90             0
 101  CoffeeMachine   3.214          0.890          0.697          0              270            0
 102  LightSwitch     2.592          1.309          -1.880         0              0              0
 103  SinkBasin       3.069          0.736          0.108          0              90             0
 104  Fridge          1.008          0.029          -1.467         0              0              0
 105  Toaster         -1.035         0.873          -0.396         0              90             0
 106  Microwave       -1.034         0.874          1.428          0              90             0
 107  Faucet          3.305          0.886          0.094          270            180            0
 108  NorthWall
 109  EastWall
 110  SouthWall
 111  WestWall

Plan:
STEP 1: Head straight and stop at the kitchen island | STEP 2: Grab the fork that is on the counter | STEP 3: Turn around and go to the sink | STEP 4: Wash the fork in the sink and then take it out | STEP 5: Back up from the counter and face the drawers | STEP 6: Put the fork in the top right drawer | END