Task: Put the fork in the 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           0.5            0.900          -1.0           0              270            0
   1  Potato          1.652          1.629          1.808          0              270            0              80
   2  DishSponge      -0.793         0.937          0.765          0              0              0              66
   3  DishSponge      -0.792         0.746          1.050          0              180            0              64
   4  Fork            -1.126         0.938          0.687          0              0              0              66
   5  Spoon           -0.876         0.939          0.687          0              0              0              66
   6  Spatula         -1.209         0.952          0.765          0              90             0              66
   7  Pot             -1.109         0.930          1.865          0              0              0              65
   8  Egg             1.357          0.105          2.912          0              0              0              79
   9  Plate           -0.791         0.088          0.774          0              0              0              53
  10  Knife           -1.127         0.959          2.310          0              270            0              41
  11  Knife           -0.689         0.768          2.245          0              90             0              42
  12  Tomato          -1.211         0.999          2.310          0              0              0              41
  13  Tomato          -1.014         0.627          0.272          0              90             0              73
  14  Bowl            -1.039         1.825          -0.127         0              0              0              54
  15  Lettuce         -1.126         1.028          0.998          0              0              0              66
  16  Bread           -0.971         1.387          0.042          0              90             0              73
  17  Mug             1.738          1.943          1.457          0              0              0              59
  18  Apple           1.388          0.892          1.369          0              180            0              83
  19  Apple           1.456          0.119          2.977          0              0              0              79
  20  Lettuce         1.460          1.014          1.678          5.121          59.325         356.525        68
  21  SoapBottle      1.670          1.500          2.248          0              0              0              61
  22  Bread           -0.923         0.990          2.265          0              302.470        0              41
  23  Fork            1.362          0.938          0.873          0              180            0              46
  24  Tomato          -0.924         1.560          0.272          0              90             0              73
  25  Bowl            1.706          1.500          0.965          0              0              0              48
  26  Pot             -1.109         0.930          1.470          0              0              0              43
  27  Spatula         -0.861         0.761          2.517          0              270            0              42
  28  Knife           -1.043         0.959          0.921          0              180            0              66
  29  SaltShaker      1.738          1.944          1.971          0              0              0              58
  30  Apple           -1.014         0.615          0.118          0              90             0              73
  31  PepperShaker    -0.861         0.742          0.914          0              180            0              64
  32  ButterKnife     -0.793         0.937          1.076          0              0              0              66
  33  Potato          1.362          0.970          1.007          0              0              0              46
  34  Plate           1.391          0.086          0.988          0              0              0              67
  35  DishSponge      -1.039         1.501          0.953          0              0              0              52
  36  Egg             1.716          1.621          1.546          0              270            0              80
  37  Cup             -0.988         0.813          0.195          0              90             0              73
  38  Pan             1.378          1.737          0.392          0              270            0              49
  39  Spoon           -0.792         0.747          2.449          0              180            0              42
  40  Mug             1.528          1.002          2.345          0              270            0              46
  41  CounterTop      -0.973         0.973          2.386          0              0              0
  42  Drawer          -0.783         0.774          2.381          0              180            0
  43  StoveBurner     -1.108         0.922          1.470          0              0              0
  44  Drawer          1.370          0.774          2.391          0              0              0
  45  Stool           -0.748         0.008          3.116          0              0              0
  46  CounterTop      1.504          0.973          2.309          0              0              0
  47  Cabinet         1.219          1.388          0.591          0              0              0
  48  Cabinet         1.500          2.113          1.164          0              0              0
  49  Cabinet         1.219          2.010          0.591          0              0              0
  50  Cabinet         1.219          0.388          2.105          0              0              0
  51  Cabinet         1.219          0.553          0.591          0              0              0
  52  Cabinet         -0.913         2.113          1.164          0              0              0
  53  Cabinet         -0.633         0.388          0.627          0              0              0
  54  Cabinet         -0.913         2.050          -0.329         0              0              0
  55  Cabinet         -0.913         2.113          0.583          0              0              0
  56  Cabinet         -0.913         2.113          2.082          0              0              0
  57  Cabinet         -0.913         2.113          1.207          0              0              0
  58  Cabinet         1.500          2.113          2.082          0              0              0
  59  Cabinet         1.500          2.113          1.207          0              0              0
  60  Cabinet         1.500          1.810          2.691          0              0              0
  61  Cabinet         1.500          1.810          2.101          0              0              0
  62  Cabinet         -0.633         0.388          2.105          0              0              0
  63  Cabinet         -0.911         1.810          2.700          0              180            0
  64  Drawer          -0.783         0.774          0.915          0              180            0
  65  StoveBurner     -1.108         0.922          1.865          0              0              0
  66  CounterTop      -0.972         0.973          0.921          0              0              0
  67  Cabinet         1.219          0.388          0.631          0              0              0
  68  Sink            1.544          0.869          1.639          0              180            0
  69  StoveBurner     -0.832         0.922          1.865          0              0              0
  70  StoveBurner     -0.831         0.922          1.470          0              0              0
  71  Drawer          1.370          0.774          0.916          0              0              0
  72  Cabinet         -0.911         1.810          2.111          0              180            0
  73  Fridge          -1.001         0.0            0.119          0              0              0
  74  StoveKnob       -0.648         0.926          1.923          0              270            0
  75  StoveKnob       -0.648         0.926          1.363          0              270            0
  76  StoveKnob       -0.648         0.926          1.513          0              270            0
  77  StoveKnob       -0.648         0.926          1.763          0              270            0
  78  Toaster         -1.002         0.926          2.561          0              90             0
  79  GarbageCan      1.451          -0.029         2.912          0              0              0
  80  Microwave       1.632          1.480          1.645          0              270            0
  81  Window          0.224          1.601          3.509          90             0              0
  82  CoffeeMachine   1.692          0.926          2.453          0              270            0
  83  SinkBasin       1.461          0.833          1.369          0              180            0
  84  LightSwitch     0.451          1.412          -1.674         0              0              0
  85  Faucet          1.707          0.925          1.363          0              270            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn right and walk to face the kitchen counter just right of the sink | STEP 2: Pick up the fork from the counter | STEP 3: Turn in a circle and face the same counter | STEP 4: Open the top drawer and put the fork in it | END