Task: Place a 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           0.0            0.900          2.0            0              0              0
   1  Pan             -0.804         0.081          2.313          0              0              0              57
   2  DishSponge      -1.211         0.937          2.234          0              0              0              36
   3  ButterKnife     -1.127         0.937          2.159          0              0              0              36
   4  Spoon           1.516          0.939          2.118          0              0              0              41
   5  Pot             -1.109         0.930          1.865          0              0              0              60
   6  Cup             1.307          1.070          0.274          0              0              0              42
   7  Tomato          -1.014         0.627          0.118          0              90             0              68
   8  Tomato          -0.937         0.627          0.272          0              90             0              68
   9  Bowl            -0.946         0.196          -0.044         0              90             0              68
  10  PepperShaker    1.459          1.743          0.066          0              0              0              43
  11  PepperShaker    1.700          1.944          1.269          0              0              0              54
  12  Lettuce         -1.126         1.028          0.921          0              0              0              61
  13  Apple           1.523          0.119          2.945          0              0              0              74
  14  Apple           -0.860         0.615          -0.034         0              90             0              68
  15  Lettuce         1.458          1.014          1.677          3.773          58.902         356.164        63
  16  SoapBottle      -0.710         0.937          0.687          0              0              0              61
  17  Bread           -0.923         0.990          2.265          0              302.470        0              36
  18  Fork            -1.043         0.938          1.154          0              0              0              61
  19  Tomato          1.285          0.999          2.597          0              0              0              41
  20  Bowl            -1.018         1.495          -0.034         0              90             0              68
  21  Pot             -1.109         0.930          1.470          0              0              0              38
  22  Spatula         1.767          0.952          1.458          0              90             0              41
  23  Knife           -0.689         0.768          2.517          0              270            0              37
  24  SaltShaker      -1.081         1.497          2.494          0              180            0              58
  25  Apple           -1.014         0.615          -0.110         0              90             0              68
  26  PepperShaker    1.501          1.068          0.478          0              0              0              42
  27  ButterKnife     -0.876         0.937          0.843          0              0              0              61
  28  Potato          -1.126         0.970          0.687          0              0              0              61
  29  Plate           1.391          0.086          0.918          0              0              0              62
  30  DishSponge      -0.758         0.746          0.847          0              180            0              59
  31  Egg             -1.127         0.973          2.234          0              0              0              36
  32  Cup             1.738          1.947          1.410          0              0              0              54
  33  Pan             1.378          1.737          0.392          0              270            0              44
  34  Spoon           -0.792         0.747          2.245          0              180            0              37
  35  Mug             1.624          1.943          1.410          0              0              0              54
  36  CounterTop      -0.973         0.973          2.386          0              0              0
  37  Drawer          -0.783         0.774          2.381          0              180            0
  38  StoveBurner     -1.108         0.922          1.470          0              0              0
  39  Drawer          1.370          0.774          2.391          0              0              0
  40  Stool           -0.748         0.008          3.116          0              0              0
  41  CounterTop      1.504          0.973          2.309          0              0              0
  42  Cabinet         1.219          1.388          0.591          0              0              0
  43  Cabinet         1.500          2.113          1.164          0              0              0
  44  Cabinet         1.219          2.010          0.591          0              0              0
  45  Cabinet         1.219          0.388          2.105          0              0              0
  46  Cabinet         1.219          0.553          0.591          0              0              0
  47  Cabinet         -0.913         2.113          1.164          0              0              0
  48  Cabinet         -0.633         0.388          0.627          0              0              0
  49  Cabinet         -0.913         2.050          -0.329         0              0              0
  50  Cabinet         -0.913         2.113          0.583          0              0              0
  51  Cabinet         -0.913         2.113          2.082          0              0              0
  52  Cabinet         -0.913         2.113          1.207          0              0              0
  53  Cabinet         1.500          2.113          2.082          0              0              0
  54  Cabinet         1.500          2.113          1.207          0              0              0
  55  Cabinet         1.500          1.810          2.691          0              0              0
  56  Cabinet         1.500          1.810          2.101          0              0              0
  57  Cabinet         -0.633         0.388          2.105          0              0              0
  58  Cabinet         -0.911         1.810          2.700          0              180            0
  59  Drawer          -0.783         0.774          0.915          0              180            0
  60  StoveBurner     -1.108         0.922          1.865          0              0              0
  61  CounterTop      -0.972         0.973          0.921          0              0              0
  62  Cabinet         1.219          0.388          0.631          0              0              0
  63  Sink            1.544          0.869          1.639          0              180            0
  64  StoveBurner     -0.832         0.922          1.865          0              0              0
  65  StoveBurner     -0.831         0.922          1.470          0              0              0
  66  Drawer          1.370          0.774          0.916          0              0              0
  67  Cabinet         -0.911         1.810          2.111          0              180            0
  68  Fridge          -1.001         0.0            0.119          0              0              0
  69  StoveKnob       -0.648         0.926          1.923          0              270            0
  70  StoveKnob       -0.648         0.926          1.363          0              270            0
  71  StoveKnob       -0.648         0.926          1.513          0              270            0
  72  StoveKnob       -0.648         0.926          1.763          0              270            0
  73  Toaster         -1.002         0.926          2.561          0              90             0
  74  GarbageCan      1.451          -0.029         2.912          0              0              0
  75  Microwave       1.632          1.480          1.645          0              270            0
  76  Window          0.224          1.601          3.509          90             0              0
  77  CoffeeMachine   1.692          0.926          2.453          0              270            0
  78  SinkBasin       1.461          0.833          1.369          0              180            0
  79  LightSwitch     0.451          1.412          -1.674         0              0              0
  80  Faucet          1.707          0.925          1.363          0              270            0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: Move towards the oven facing the counter to the left | STEP 2: pick up the fork sitting on the counter to the right of the lettuce | STEP 3: Turn around in a circle facing the drawer to the left of the oven | STEP 4: Place the fork in the top drawer under the white counter top, shut the drawer | END