Task: put a clean fork in to the drawer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          -0.25          0              270            0
   1  DishSponge      0.888          0.911          -0.854         0              0              0              40
   2  DishSponge      -0.294         0.911          1.468          0              0              0              51
   3  ButterKnife     1.141          0.911          -0.684         0              0              0              40
   4  Pot             0.281          0.964          1.347          0              0              0              55
   5  Fork            -0.151         0.912          1.299          0              180            0              51
   6  Spatula         0.193          0.780          -0.762         0              90             0              97
   7  Cup             1.173          0.112          -0.458         0              180            0              48
   8  Egg             3.260          0.878          -0.514         0              0              0              95
   9  Egg             -0.990         0.858          -1.038         0              0              0              99
  10  SoapBottle      -0.621         0.826          -1.155         0              90             0              99
  11  Tomato          0.634          0.942          -0.515         0              0              0              40
  12  SaltShaker      -0.734         0.817          -1.255         0              0              0              99
  13  PepperShaker    -0.106         1.650          -0.811         0              180            0              82
  14  Lettuce         2.754          0.992          1.299          0              0              0              75
  15  Mug             2.591          0.721          -0.504         0              90             0              95
  16  Mug             1.428          0.968          -0.577         0              0              0              40
  17  SoapBottle      -0.246         0.917          1.214          0              0              0              51
  18  Plate           2.488          0.914          1.214          0              0              0              75
  19  Fork            -1.056         0.821          -1.308         0              90             0              99
  20  Pot             0.281          0.964          1.082          0              0              0              46
  21  Bread           1.03           0.953          -0.519         0              0              0              40
  22  Egg             1.688          0.949          1.383          0              0              0              75
  23  Kettle          0.710          0.9            -0.772         0              0              0              40
  24  Tomato          1.955          0.942          1.129          0              0              0              75
  25  Cup             1.155          0.909          1.468          0              0              0              75
  26  Spatula         1.955          0.926          1.468          0              0              0              75
  27  Apple           2.900          1.087          -0.775         0              0              0              95
  28  Pan             2.715          1.563          -0.709         0              0              0              95
  29  Lettuce         2.221          0.992          1.214          0              0              0              75
  30  SaltShaker      0.634          0.908          -0.430         0              0              0              40
  31  Knife           -0.087         0.798          -0.596         0              270            0              97
  32  Potato          -0.983         0.855          -1.411         0              90             0              99
  33  PepperShaker    -0.151         0.908          1.129          0              0              0              51
  34  ButterKnife     1.155          0.911          1.044          0              0              0              75
  35  Bowl            1.208          1.652          -0.734         0              180            0              42
  36  DishSponge      -0.621         0.820          -1.360         0              90             0              99
  37  Spoon           0.123          0.766          -0.707         0              0              0              97
  38  Mug             -0.766         0.815          -1.360         0              270            0              99
  39  Sink            0.050          0.902          -0.648         0              0              0
  40  CounterTop      1.358          0.947          -0.600         0              0              0
  41  Cabinet         2.986          2.009          1.304          0              0              0
  42  Cabinet         1.022          2.009          -0.607         0              180            0
  43  StoveBurner     0.678          0.923          1.082          0              0              0
  44  Cabinet         2.371          0.402          0.995          0              0              0
  45  Drawer          -0.125         0.792          0.995          0              0              0
  46  StoveBurner     0.281          0.923          1.082          0              0              0
  47  Cabinet         1.025          0.402          0.995          0              0              0
  48  Cabinet         1.023          0.402          -0.296         0              180            0
  49  Cabinet         0.974          2.259          1.304          0              0              0
  50  Cabinet         0.979          2.009          -0.607         0              180            0
  51  CounterTop      -0.158         0.947          1.299          0              0              0
  52  Cabinet         1.725          2.009          1.304          0              0              0
  53  Drawer          2.205          0.792          -0.294         0              180            0
  54  Drawer          1.869          0.792          -0.294         0              180            0
  55  StoveBurner     0.281          0.923          1.347          0              0              0
  56  Drawer          2.512          0.792          0.995          0              0              0
  57  Cabinet         1.673          0.402          -0.296         0              180            0
  58  Drawer          1.524          0.792          0.995          0              0              0
  59  Drawer          1.174          0.792          -0.294         0              180            0
  60  Cabinet         1.720          0.402          0.995          0              0              0
  61  Cabinet         2.348          2.009          -0.607         0              180            0
  62  Cabinet         1.676          2.009          -0.607         0              180            0
  63  Cabinet         1.673          2.009          1.304          0              0              0
  64  Cabinet         2.326          2.009          1.304          0              0              0
  65  Cabinet         2.370          2.009          1.304          0              0              0
  66  Cabinet         0.021          2.009          1.304          0              0              0
  67  Cabinet         1.025          2.009          1.304          0              0              0
  68  Cabinet         -0.274         0.402          0.995          0              0              0
  69  Cabinet         1.675          0.402          0.995          0              0              0
  70  Drawer          1.524          0.792          -0.294         0              180            0
  71  Drawer          2.187          0.792          0.995          0              0              0
  72  Cabinet         2.977          0.402          0.995          0              0              0
  73  Drawer          1.862          0.792          0.995          0              0              0
  74  Cabinet         0.072          2.259          1.304          0              0              0
  75  CounterTop      1.917          0.947          1.299          0              0              0
  76  Cabinet         2.328          0.402          0.995          0              0              0
  77  Cabinet         1.723          2.009          -0.607         0              180            0
  78  StoveBurner     0.677          0.923          1.345          0              0              0
  79  Cabinet         0.355          2.009          -0.607         0              180            0
  80  Cabinet         0.332          2.009          -0.607         0              180            0
  81  Cabinet         2.349          0.402          -0.296         0              180            0
  82  Cabinet         -0.284         2.009          -0.607         0              180            0
  83  Faucet          0.061          0.906          -0.903         0              0              0
  84  Drawer          2.837          0.792          0.995          0              0              0
  85  Drawer          1.175          0.792          0.995          0              0              0
  86  Cabinet         1.723          0.402          -0.296         0              180            0
  87  StoveKnob       0.588          1.093          1.557          287.970        0              0
  88  StoveKnob       0.188          1.093          1.557          287.970        0              0
  89  StoveKnob       0.749          1.093          1.557          287.970        0              0
  90  StoveKnob       0.338          1.093          1.557          287.970        0              0
  91  Toaster         1.934          0.900          -0.717         0              0              0
  92  LightSwitch     -1.662         1.427          1.649          0              180            0
  93  GarbageCan      -1.965         -0.029         1.358          0              270            0
  94  CoffeeMachine   1.542          0.900          -0.751         0              0              0
  95  Fridge          3.043          0.0            -0.709         0              0              0
  96  Window          -2.183         1.501          -0.014         90             270            0
  97  SinkBasin       0.043          0.755          -0.651         0              0              0
  98  Microwave       0.531          1.675          1.437          0              180            0
  99  DiningTable     -0.836         8.404          -1.258         0              0              0
 100  Chair           -1.611         0.002          -1.185         0              45             0
 101  NorthWall
 102  EastWall
 103  SouthWall
 104  WestWall

Plan:
STEP 1: turn around and move forward to the counter to the left of the stove, turn to the left to face the counter | STEP 2: pick up the fork that is on the counter | STEP 3: turn around and move to the sink | STEP 4: put the fork in to the sink, turn on the water to since the fork, turn the water off and pick up the fork from the sink | STEP 5: turn around and move to the counter that is to the left of the stove | STEP 6: open the drawer below the counter, put the fork in to the drawer and close it | END