Task: Place a clean fork 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          0.5            0              270            0
   1  Pan             0.678          0.964          1.345          0              0              0              85
   2  Potato          2.591          1.323          -0.447         0              0              0              102
   3  Potato          0.363          1.819          1.488          0              180            0              105
   4  DishSponge      1.209          0.770          1.122          0              0              0              92
   5  Kettle          1.134          1.655          -0.811         0              180            0              49
   6  Kettle          2.488          0.912          1.214          0              0              0              82
   7  Pot             2.221          0.915          1.129          0              0              0              82
   8  Spoon           -0.055         0.912          1.214          0              0              0              58
   9  Spoon           -0.087         0.766          -0.651         0              0              0              104
  10  Fork            1.955          0.912          1.383          0              0              0              82
  11  Fork            2.280          0.772          1.122          0              90             0              63
  12  Spatula         1.422          0.926          1.383          0              0              0              82
  13  Spatula         -0.103         0.926          1.299          0              90             0              58
  14  Cup             2.777          1.016          -0.578         0              0              0              102
  15  Egg             0.263          0.803          -0.707         0              0              0              104
  16  Knife           -0.151         0.944          1.383          0              270            0              58
  17  Knife           -0.246         0.944          1.383          0              270            0              58
  18  SoapBottle      1.649          0.917          -0.345         0              0              0              47
  19  Bowl            2.154          1.652          1.508          0              0              0              71
  20  Bowl            1.688          0.909          1.468          0              0              0              82
  21  SaltShaker      -1.056         0.817          -1.360         0              90             0              106
  22  PepperShaker    -0.911         0.817          -1.360         0              90             0              106
  23  PepperShaker    2.449          1.651          1.390          0              0              0              72
  24  SoapBottle      -0.621         0.826          -1.360         0              90             0              106
  25  Plate           1.688          0.914          1.214          0              0              0              82
  26  Fork            -1.056         0.821          -1.308         0              90             0              106
  27  Pot             2.754          0.915          1.214          0              0              0              82
  28  Bread           0.888          0.969          -0.769         0              0              0              47
  29  Egg             1.422          0.949          1.468          0              0              0              82
  30  Kettle          0.281          0.964          1.082          0              0              0              53
  31  Tomato          2.900          1.050          -0.775         0              0              0              102
  32  Cup             0.415          1.782          1.391          0              180            0              105
  33  Spatula         -0.983         0.835          -1.206         0              180            0              106
  34  Apple           2.838          1.632          -0.578         0              0              0              102
  35  Pan             1.155          0.911          1.129          0              0              0              82
  36  Lettuce         2.156          0.992          -0.430         0              0              0              47
  37  SaltShaker      -0.785         0.817          -1.473         0              0              0              106
  38  Knife           -0.694         0.853          -1.257         0              90             0              106
  39  Potato          0.570          1.819          1.423          0              180            0              105
  40  PepperShaker    -0.990         0.817          -1.473         0              0              0              106
  41  ButterKnife     0.053          0.765          -0.651         0              0              0              104
  42  Bowl            2.838          0.724          -0.504         0              0              0              102
  43  DishSponge      -2.019         0.423          1.290          0              270            0              100
  44  Spoon           0.053          0.766          -0.596         0              0              0              104
  45  Mug             1.792          0.110          1.196          0              90             0              67
  46  Sink            0.050          0.902          -0.648         0              0              0
  47  CounterTop      1.358          0.947          -0.600         0              0              0
  48  Cabinet         2.986          2.009          1.304          0              0              0
  49  Cabinet         1.022          2.009          -0.607         0              180            0
  50  StoveBurner     0.678          0.923          1.082          0              0              0
  51  Cabinet         2.371          0.402          0.995          0              0              0
  52  Drawer          -0.125         0.792          0.995          0              0              0
  53  StoveBurner     0.281          0.923          1.082          0              0              0
  54  Cabinet         1.025          0.402          0.995          0              0              0
  55  Cabinet         1.023          0.402          -0.296         0              180            0
  56  Cabinet         0.974          2.259          1.304          0              0              0
  57  Cabinet         0.979          2.009          -0.607         0              180            0
  58  CounterTop      -0.158         0.947          1.299          0              0              0
  59  Cabinet         1.725          2.009          1.304          0              0              0
  60  Drawer          2.205          0.792          -0.294         0              180            0
  61  Drawer          1.869          0.792          -0.294         0              180            0
  62  StoveBurner     0.281          0.923          1.347          0              0              0
  63  Drawer          2.512          0.792          0.995          0              0              0
  64  Cabinet         1.673          0.402          -0.296         0              180            0
  65  Drawer          1.524          0.792          0.995          0              0              0
  66  Drawer          1.174          0.792          -0.294         0              180            0
  67  Cabinet         1.720          0.402          0.995          0              0              0
  68  Cabinet         2.348          2.009          -0.607         0              180            0
  69  Cabinet         1.676          2.009          -0.607         0              180            0
  70  Cabinet         1.673          2.009          1.304          0              0              0
  71  Cabinet         2.326          2.009          1.304          0              0              0
  72  Cabinet         2.370          2.009          1.304          0              0              0
  73  Cabinet         0.021          2.009          1.304          0              0              0
  74  Cabinet         1.025          2.009          1.304          0              0              0
  75  Cabinet         -0.274         0.402          0.995          0              0              0
  76  Cabinet         1.675          0.402          0.995          0              0              0
  77  Drawer          1.524          0.792          -0.294         0              180            0
  78  Drawer          2.187          0.792          0.995          0              0              0
  79  Cabinet         2.977          0.402          0.995          0              0              0
  80  Drawer          1.862          0.792          0.995          0              0              0
  81  Cabinet         0.072          2.259          1.304          0              0              0
  82  CounterTop      1.917          0.947          1.299          0              0              0
  83  Cabinet         2.328          0.402          0.995          0              0              0
  84  Cabinet         1.723          2.009          -0.607         0              180            0
  85  StoveBurner     0.677          0.923          1.345          0              0              0
  86  Cabinet         0.355          2.009          -0.607         0              180            0
  87  Cabinet         0.332          2.009          -0.607         0              180            0
  88  Cabinet         2.349          0.402          -0.296         0              180            0
  89  Cabinet         -0.284         2.009          -0.607         0              180            0
  90  Faucet          0.061          0.906          -0.903         0              0              0
  91  Drawer          2.837          0.792          0.995          0              0              0
  92  Drawer          1.175          0.792          0.995          0              0              0
  93  Cabinet         1.723          0.402          -0.296         0              180            0
  94  StoveKnob       0.588          1.093          1.557          287.970        0              0
  95  StoveKnob       0.188          1.093          1.557          287.970        0              0
  96  StoveKnob       0.749          1.093          1.557          287.970        0              0
  97  StoveKnob       0.338          1.093          1.557          287.970        0              0
  98  Toaster         1.934          0.900          -0.717         0              0              0
  99  LightSwitch     -1.662         1.427          1.649          0              180            0
 100  GarbageCan      -1.965         -0.029         1.358          0              270            0
 101  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 102  Fridge          3.043          0.0            -0.709         0              0              0
 103  Window          -2.183         1.501          -0.014         90             270            0
 104  SinkBasin       0.043          0.755          -0.651         0              0              0
 105  Microwave       0.531          1.675          1.437          0              180            0
 106  DiningTable     -0.836         8.404          -1.258         0              0              0
 107  Chair           -1.611         0.002          -1.185         0              45             0
 108  NorthWall
 109  EastWall
 110  SouthWall
 111  WestWall

Plan:
STEP 1: Turn left and walk to the table. | STEP 2: Pick up the fork on the able. | STEP 3: Turn around and walk around the side of the counter to the front of the sink. | STEP 4: Rinse off the fork in the sink. | STEP 5: Turn around and walk to the counter to the left of the stove. | STEP 6: Place the fork in the drawer under the counter. | END