Task: Put a knife in a drawer.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          2.0            0              180            0
   1  Pan             -1.081         0.949          -1.527         0              0              0              72
   2  Pan             -1.431         0.949          -1.81          0              0              0              81
   3  SprayBottle     0.927          0.910          0.031          0              0              0              77
   4  SprayBottle     -1.886         0.909          -1.620         0              0              0              69
   5  Pen             -2.079         0.913          0.463          0              0              0              73
   6  Potato          1.426          1.409          1.976          0              270            0              90
   7  Glassbottle     1.207          0.115          -0.736         0              0              0              55
   8  Fork            1.015          0.775          -1.013         0              270            0              49
   9  Fork            1.414          1.162          -1.345         0              0              0              77
  10  Spoon           0.320          0.920          -1.708         0              270            0              50
  11  Spatula         1.494          1.177          -1.688         0              0              0              77
  12  Egg             1.369          1.846          2.432          0              270            0              90
  13  Cup             1.388          1.720          1.713          0              270            0              90
  14  Plate           1.342          1.656          -0.736         0              0              0              59
  15  SoapBottle      0.976          0.117          0.606          0              90             0              54
  16  SoapBottle      1.302          0.214          1.137          0              90             0              88
  17  Tomato          0.183          0.959          -1.808         0              270            0              50
  18  SaltShaker      -2.201         0.905          0.032          0              0              0              73
  19  Lettuce         -1.835         0.979          0.291          0              0              0              73
  20  Apple           1.376          1.300          -0.021         0              270            0              93
  21  Apple           1.476          1.402          2.350          0              270            0              90
  22  Tomato          1.420          0.254          1.022          0              0              0              88
  23  Glassbottle     -1.732         0.911          -1.448         0              0              0              69
  24  Knife           0.936          0.804          0.485          0              270            0              48
  25  Plate           -2.323         0.911          0.204          0              0              0              73
  26  Fork            -1.712         0.911          0.377          0              0              0              73
  27  Ladle           -1.957         0.954          0.204          0              0              0              73
  28  Potato          -0.552         0.953          -1.619         0              0              0              71
  29  Lettuce         1.343          0.980          -0.990         0              0              0              71
  30  Kettle          -1.081         0.949          -1.81          0              0              0              67
  31  Pen             0.528          0.777          -1.500         0              90             0              71
  32  SaltShaker      1.414          1.157          -1.002         0              0              0              77
  33  Cup             1.476          1.367          2.475          0              270            0              90
  34  Egg             -0.017         0.805          -1.634         0              270            0              92
  35  Spatula         -2.201         0.925          0.377          0              90             0              73
  36  Bowl            -1.039         1.851          -1.839         0              0              0              51
  37  SprayBottle     -1.524         1.857          -1.874         0              0              0              64
  38  Pan             1.035          0.114          -1.129         0              0              0              56
  39  SoapBottle      0.970          1.655          -1.839         0              0              0              60
  40  Pot             0.967          0.9            0.249          0              0              0              71
  41  ButterKnife     -0.627         0.911          -1.789         0              0              0              71
  42  PepperShaker    -0.477         0.906          -1.448         0              0              0              71
  43  DishSponge      -2.323         0.910          0.549          0              0              0              73
  44  Bread           1.164          0.975          -0.16          0              300.000        0              71
  45  Apple           0.149          0.954          -1.657         0              270            0              50
  46  Spoon           -1.962         0.911          -1.534         0              0              0              69
  47  Mug             1.223          1.651          -1.106         0              90             0              59
  48  Drawer          0.860          0.75           0.430          0              0              0
  49  Drawer          0.871          0.75           -1.134         0              0              0
  50  Sink            0.156          0.817          -1.801         0              270            0
  51  Cabinet         -0.868         2.005          -1.690         0              0              0
  52  Cabinet         -1.661         2.059          -1.684         0              90             0
  53  Cabinet         -0.817         2.059          -1.689         0              0              0
  54  Cabinet         0.860          0.402          0.665          0              0              0
  55  Cabinet         0.860          0.402          -0.552         0              0              0
  56  Cabinet         0.860          0.402          -1.365         0              0              0
  57  Cabinet         -0.244         0.402          -1.389         0              0              0
  58  Cabinet         -0.815         0.402          -1.389         0              0              0
  59  Cabinet         1.159          2.059          -0.334         0              0              0
  60  Cabinet         0.488          2.059          -1.689         0              0              0
  61  Cabinet         -0.193         2.059          -1.689         0              0              0
  62  Drawer          0.860          0.75           -0.699         0              0              0
  63  Cabinet         1.159          2.059          -1.019         0              0              0
  64  Cabinet         -1.611         2.005          -1.690         0              0              0
  65  Cabinet         0.832          0.401          -1.393         0              90             0
  66  Drawer          -2.105         0.75           -1.389         0              0              0
  67  StoveBurner     -1.081         0.941          -1.809         0              0              0
  68  Cabinet         -0.202         0.401          -1.391         0              90             0
  69  CounterTop      -1.973         0.945          -1.707         0              0              0
  70  Drawer          -0.375         0.75           -1.389         0              0              0
  71  CounterTop      1.164          0.946          -0.649         0              0              0
  72  StoveBurner     -1.081         0.941          -1.527         0              0              0
  73  CounterTop      -2.096         0.945          0.291          0              0              0
  74  Cabinet         -2.237         0.402          -1.389         0              0              0
  75  Drawer          0.584          0.75           -1.389         0              0              0
  76  Drawer          -1.795         0.75           -1.389         0              0              0
  77  CounterTop      1.5            1.197          -0.654         0              0              0
  78  Cabinet         -1.667         0.402          -1.389         0              0              0
  79  StoveBurner     -1.430         0.941          -1.525         0              0              0
  80  Drawer          -0.685         0.75           -1.389         0              0              0
  81  StoveBurner     -1.430         0.941          -1.809         0              0              0
  82  LightSwitch     -2.539         1.289          2.568          0              90             0
  83  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  84  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  85  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  86  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  87  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  88  GarbageCan      1.343          0.015          1.041          0              0              0
  89  HousePlant      1.440          1.153          0.593          0              0              0
  90  Fridge          1.417          0.0            2.101          0              0              0
  91  Window          -0.486         1.452          3.302          90             0              0
  92  SinkBasin       -0.063         0.765          -1.713         0              270            0
  93  Microwave       1.422          1.150          0.022          0              270            0
  94  Toaster         -2.066         0.900          -1.848         0              0              0
  95  Stool           -1.994         0.010          0.882          0              0              0
  96  Faucet          -0.096         1.041          -1.867         0              270            0
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: Head forward to the counter left of the stove.  | STEP 2: Pick up the knife from the counter.  | STEP 3: Turn to the left and bring the knife to the drawer in the corner on the right.  | STEP 4: Open the drawer and put the knife in there.  | END