Task: Put a fork inside 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           -0.25          0.900          2.5            0              270            0
   1  Potato          -1.018         1.531          0.118          0              90             0              70
   2  Potato          -0.876         0.970          1.076          0              0              0              63
   3  ButterKnife     -1.126         0.937          1.154          0              0              0              63
   4  Spoon           1.275          0.747          2.527          0              90             0              41
   5  Spatula         1.669          0.952          1.074          0              0              0              43
   6  Spatula         -0.689         0.761          2.245          0              90             0              39
   7  Pot             -1.109         0.930          1.865          0              0              0              62
   8  Egg             -1.044         0.973          2.159          0              0              0              38
   9  Cup             -1.014         0.564          0.348          0              90             0              70
  10  Plate           1.382          0.105          -0.030         0              0              0              48
  11  SoapBottle      -0.868         0.083          0.774          0              0              0              50
  12  Bowl            1.456          0.941          1.714          0              180            0              65
  13  SaltShaker      -0.861         0.742          2.245          0              180            0              39
  14  PepperShaker    1.285          0.934          2.597          0              0              0              43
  15  PepperShaker    -1.211         0.934          2.159          0              0              0              39
  16  Apple           1.390          0.119          2.879          0              0              0              76
  17  Lettuce         -1.126         1.028          0.998          0              0              0              63
  18  SoapBottle      1.523          0.069          2.912          0              0              0              76
  19  Bread           -0.923         0.990          2.265          0              302.470        0              38
  20  Fork            -0.960         0.938          0.843          0              0              0              63
  21  Tomato          -0.877         1.560          0.195          0              90             0              70
  22  Bowl            -0.924         1.495          -0.034         0              90             0              70
  23  Pot             -1.109         0.930          1.470          0              0              0              40
  24  Spatula         1.310          0.761          0.848          0              90             0              68
  25  Knife           -0.758         0.768          2.245          0              90             0              39
  26  SaltShaker      1.767          0.934          1.351          0              0              0              43
  27  Apple           -0.988         0.864          0.272          0              90             0              70
  28  PepperShaker    1.746          1.500          1.011          0              0              0              45
  29  ButterKnife     1.669          0.937          0.806          0              0              0              43
  30  Potato          -0.937         0.598          -0.110         0              90             0              70
  31  Plate           1.391          0.086          2.392          0              0              0              47
  32  DishSponge      -1.126         0.937          0.843          0              0              0              63
  33  Egg             -1.112         1.354          0.195          0              90             0              70
  34  Cup             -0.844         0.080          2.313          0              0              0              59
  35  Pan             1.378          1.737          0.392          0              270            0              46
  36  Spoon           -0.792         0.747          2.517          0              180            0              39
  37  Mug             -1.039         1.823          -0.266         0              90             0              51
  38  CounterTop      -0.973         0.973          2.386          0              0              0
  39  Drawer          -0.783         0.774          2.381          0              180            0
  40  StoveBurner     -1.108         0.922          1.470          0              0              0
  41  Drawer          1.370          0.774          2.391          0              0              0
  42  Stool           -0.748         0.008          3.116          0              0              0
  43  CounterTop      1.504          0.973          2.309          0              0              0
  44  Cabinet         1.219          1.388          0.591          0              0              0
  45  Cabinet         1.500          2.113          1.164          0              0              0
  46  Cabinet         1.219          2.010          0.591          0              0              0
  47  Cabinet         1.219          0.388          2.105          0              0              0
  48  Cabinet         1.219          0.553          0.591          0              0              0
  49  Cabinet         -0.913         2.113          1.164          0              0              0
  50  Cabinet         -0.633         0.388          0.627          0              0              0
  51  Cabinet         -0.913         2.050          -0.329         0              0              0
  52  Cabinet         -0.913         2.113          0.583          0              0              0
  53  Cabinet         -0.913         2.113          2.082          0              0              0
  54  Cabinet         -0.913         2.113          1.207          0              0              0
  55  Cabinet         1.500          2.113          2.082          0              0              0
  56  Cabinet         1.500          2.113          1.207          0              0              0
  57  Cabinet         1.500          1.810          2.691          0              0              0
  58  Cabinet         1.500          1.810          2.101          0              0              0
  59  Cabinet         -0.633         0.388          2.105          0              0              0
  60  Cabinet         -0.911         1.810          2.700          0              180            0
  61  Drawer          -0.783         0.774          0.915          0              180            0
  62  StoveBurner     -1.108         0.922          1.865          0              0              0
  63  CounterTop      -0.972         0.973          0.921          0              0              0
  64  Cabinet         1.219          0.388          0.631          0              0              0
  65  Sink            1.544          0.869          1.639          0              180            0
  66  StoveBurner     -0.832         0.922          1.865          0              0              0
  67  StoveBurner     -0.831         0.922          1.470          0              0              0
  68  Drawer          1.370          0.774          0.916          0              0              0
  69  Cabinet         -0.911         1.810          2.111          0              180            0
  70  Fridge          -1.001         0.0            0.119          0              0              0
  71  StoveKnob       -0.648         0.926          1.923          0              270            0
  72  StoveKnob       -0.648         0.926          1.363          0              270            0
  73  StoveKnob       -0.648         0.926          1.513          0              270            0
  74  StoveKnob       -0.648         0.926          1.763          0              270            0
  75  Toaster         -1.002         0.926          2.561          0              90             0
  76  GarbageCan      1.451          -0.029         2.912          0              0              0
  77  Microwave       1.632          1.480          1.645          0              270            0
  78  Window          0.224          1.601          3.509          90             0              0
  79  CoffeeMachine   1.692          0.926          2.453          0              270            0
  80  SinkBasin       1.461          0.833          1.369          0              180            0
  81  LightSwitch     0.451          1.412          -1.674         0              0              0
  82  Faucet          1.707          0.925          1.363          0              270            0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Walk to the counter top by the right side of the refrigerator. | STEP 2: Pick up the fork from the counter top. | STEP 3: Move back a little and open the drawer in front of you. | STEP 4: Place the fork in the drawer and close it. | END