Task: put the fork from drawer in the pan, move the pan to the dining table

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          2.5            0              180            0
   1  Potato          2.875          1.068          -0.846         0              0              0              54
   2  Potato          -0.669         1.069          0.877          0              0              0              57
   3  DishSponge      2.976          0.764          3.895          0              270            0              55
   4  DishSponge      2.899          0.034          0.217          0              0              0              81
   5  ButterKnife     2.710          0.764          4.229          0              225            0              55
   6  ButterKnife     2.376          0.764          3.62           0              0              0              55
   7  WineBottle      -1.074         1.028          1.427          0              0              0              57
   8  WineBottle      -1.102         1.028          1.612          0              0              0              57
   9  Glassbottle     -0.544         1.028          0.785          0              0              0              57
  10  Glassbottle     2.275          0.765          4.192          0              270            0              55
  11  Pot             -0.627         0.049          1.954          0              0              0              83
  12  Spatula         2.451          0.779          3.795          0              90             0              55
  13  Spatula         2.705          0.814          -0.653         0              270            0              54
  14  Spoon           2.376          0.765          3.62           0              0              0              55
  15  Egg             2.788          0.808          4.412          0              225            0              55
  16  Plate           2.605          0.764          4.334          0              225            0              55
  17  Knife           -0.645         0.841          1.259          0              0              0              111
  18  Knife           -0.669         1.052          2.556          0              0              0              57
  19  Tomato          -0.714         0.878          1.337          0              90             0              111
  20  SoapBottle      -0.997         0.075          2.748          0              0              0              109
  21  SaltShaker      1.230          1.023          -1.454         0              90             0              54
  22  Lettuce         -0.851         0.874          1.181          0              90             0              111
  23  Mug             1.895          1.856          -1.910         0              90             0              100
  24  Mug             -0.803         1.070          0.646          0              90             0              107
  25  Apple           2.525          0.814          3.445          0              0              0              55
  26  Pan             2.621          1.026          -1.151         0              0              0              54
  27  Glassbottle     2.525          0.765          3.62           0              0              0              55
  28  Knife           1.409          1.052          -1.987         0              90             0              54
  29  SoapBottle      1.925          0.763          3.895          0              270            0              55
  30  Egg             -0.544         1.071          2.434          0              0              0              57
  31  Fork            1.640          0.801          1.603          0              317.0          0              69
  32  Potato          1.903          0.806          3.737          0              225            0              55
  33  Ladle           2.487          0.803          4.203          0              329.999        0              55
  34  Tomato          2.322          0.818          3.895          0              329.999        0              55
  35  Pot             1.836          1.027          -1.84          0              90             0              52
  36  WineBottle      -0.977         0.050          0.359          0              0              0              87
  37  Plate           2.801          0.764          3.970          0              270            0              55
  38  Spatula         1.529          1.041          -1.774         0              90             0              54
  39  PaperTowelRoll  -0.347         1.131          1.540          0              0              0              57
  40  Lettuce         -0.418         1.085          2.311          0              0              0              57
  41  Apple           2.875          1.077          -1.762         0              0              0              54
  42  SaltShaker      2.334          1.023          0.958          0              136.999        0              54
  43  PepperShaker    1.668          2.276          -1.873         0              0              0              70
  44  ButterKnife     2.706          1.026          -0.541         0              0              0              54
  45  Bread           2.683          1.094          1.004          0              136.999        0              54
  46  Cup             -1.059         1.440          -0.295         0              90             0              98
  47  DishSponge      -1.059         1.780          2.254          0              0              0              92
  48  Bowl            -0.922         1.440          -0.405         0              90             0              98
  49  Spoon           2.706          0.802          0.118          0              0              0              65
  50  Mug             2.673          0.759          3.445          0              0              0              55
  51  Sink            -0.716         1.023          1.333          0              0              0
  52  StoveBurner     1.835          1.018          -1.840         0              90             0
  53  StoveBurner     2.177          1.018          -1.599         0              0              0
  54  CounterTop      2.812          0.992          0.675          0              0              0
  55  DiningTable     2.419          0.003          3.930          0              0              0
  56  Drawer          -0.643         0.828          0.616          0              0              0
  57  CounterTop      -0.813         1.062          2.188          0              0              0
  58  StoveBurner     2.115          1.018          -1.840         0              270            0
  59  Drawer          -0.643         0.831          1.953          0              0              0
  60  Drawer          -0.643         0.833          2.418          0              0              0
  61  Drawer          1.347          0.836          -1.539         0              0              0
  62  Drawer          2.693          0.833          -1.131         0              0              0
  63  Drawer          2.693          0.833          -0.699         0              0              0
  64  Drawer          2.693          0.833          -0.267         0              0              0
  65  Drawer          2.693          0.833          0.163          0              0              0
  66  Drawer          2.524          0.833          0.720          0              2.000          0
  67  Drawer          2.232          0.833          1.036          0              2.000          0
  68  Drawer          1.936          0.833          1.354          0              2.000          0
  69  Drawer          1.646          0.833          1.670          0              2.000          0
  70  Cabinet         1.504          2.475          -1.710         0              0              0
  71  Cabinet         -0.823         2.220          1.621          0              0              0
  72  Cabinet         -0.823         2.220          0.615          0              0              0
  73  Cabinet         1.136          0.388          -1.355         0              0              0
  74  Cabinet         -0.356         0.383          2.626          0              0              0
  75  Cabinet         2.745          2.220          -1.690         0              0              0
  76  Cabinet         1.882          0.383          1.017          0              0              0
  77  Cabinet         1.307          0.473          1.640          0              0              0
  78  Cabinet         1.892          0.383          1.006          0              0              0
  79  Cabinet         2.467          0.383          0.383          0              0              0
  80  Cabinet         2.466          0.383          -0.475         0              0              0
  81  Cabinet         2.466          0.473          0.371          0              0              0
  82  Cabinet         2.386          2.475          -1.710         0              0              0
  83  Cabinet         -0.356         0.383          1.712          0              0              0
  84  Cabinet         2.745          2.220          0.019          0              0              0
  85  Cabinet         -0.663         2.496          0.157          0              0              0
  86  Cabinet         -0.663         2.496          -0.868         0              0              0
  87  Cabinet         -0.356         0.383          0.269          0              0              0
  88  Cabinet         -0.823         2.220          1.603          0              0              0
  89  Cabinet         -0.662         2.234          0.586          0              0              0
  90  Cabinet         2.745          2.220          -0.843         0              0              0
  91  Cabinet         2.745          2.220          -0.827         0              0              0
  92  Cabinet         -0.823         2.220          2.608          0              0              0
  93  Cabinet         2.732          2.226          -1.709         0              0              0
  94  Cabinet         1.137          2.226          -1.709         0              0              0
  95  Cabinet         2.466          0.383          -0.491         0              0              0
  96  Cabinet         2.466          0.383          -1.339         0              0              0
  97  StoveBurner     1.761          1.018          -1.599         0              0              0
  98  Fridge          -0.908         0.0            -0.405         0              0              0
  99  HousePlant      2.517          1.016          1.822          0              0              0
 100  Microwave       1.939          1.745          -1.826         0              0              0
 101  StoveKnob       2.017          1.041          -1.514         0              180            180
 102  StoveKnob       1.934          1.041          -1.514         0              180            180
 103  StoveKnob       2.017          1.041          -1.589         0              180            180
 104  StoveKnob       1.934          1.041          -1.589         0              180            180
 105  Window          1.756          1.608          4.762          90             0              0
 106  HousePlant      2.171          1.004          2.091          0              0              0
 107  CoffeeMachine   -0.942         1.018          0.645          0              90             0
 108  LightSwitch     -0.099         1.410          -2.066         0              0              0
 109  GarbageCan      -0.951         -0.029         2.826          0              0              0
 110  Toaster         -1.007         1.018          2.238          0              90             0
 111  SinkBasin       -0.714         0.805          1.348          0              90             0
 112  Chair           1.615          0.004          4.310          0              107.976        0
 113  Faucet          -1.120         1.013          1.334          0              90             0
 114  Chair           2.759          0.004          3.086          0              358.967        0
 115
 116  NorthWall
 117  EastWall
 118  SouthWall
 119  WestWall

Plan:
STEP 1: turn left, walk to the edge of the counter | STEP 2: open the first drawer, take the fork out of the drawer | STEP 3: turn around, walk to the stove, turn left, walk to the corner of the counter | STEP 4: put the fork in the pan | STEP 5: take the pan with fork in it | STEP 6: turn around, walk to the dining table | STEP 7: put the pan on the table | END