Task: Put 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          3.0            0              90             0
   1  SprayBottle     0.121          1.654          -1.876         0              0              0              59
   2  Pen             -1.849         0.775          -1.565         0              270            0              74
   3  Potato          1.408          1.307          -0.021         0              270            0              91
   4  Potato          1.420          1.762          1.713          0              270            0              88
   5  ButterKnife     -2.079         0.910          0.032          0              0              0              71
   6  Fork            -1.712         0.911          0.549          0              0              0              71
   7  Fork            -2.323         0.911          0.118          0              0              0              71
   8  Spoon           0.472          0.774          -1.500         0              270            0              73
   9  Spoon           -0.477         0.912          -1.534         0              90             0              68
  10  Spatula         0.285          0.934          -1.607         0              270            0              48
  11  Spatula         -0.174         0.926          -1.409         0              180            0              69
  12  Egg             1.302          0.243          0.993          0              0              0              86
  13  Plate           0.649          0.117          -1.633         0              90             0              63
  14  Knife           -2.193         0.940          -1.879         0              90             0              67
  15  Knife           -1.957         0.940          0.463          0              0              0              71
  16  Bowl            -0.386         1.656          -1.801         0              0              0              51
  17  SaltShaker      1.035          0.110          -1.186         0              0              0              54
  18  Mug             -0.703         0.906          -1.448         0              0              0              69
  19  Apple           1.426          1.402          2.351          0              270            0              88
  20  Tomato          1.275          1.407          2.226          0              270            0              88
  21  Glassbottle     -2.165         1.656          -1.807         0              90             0              50
  22  Knife           -1.809         0.940          -1.448         0              0              0              67
  23  Plate           -2.079         0.911          0.291          0              0              0              71
  24  Fork            0.115          0.920          -1.657         0              270            0              48
  25  Ladle           0.758          0.955          -1.789         0              0              0              69
  26  Potato          -2.193         0.952          -1.534         0              0              0              67
  27  Lettuce         -1.712         0.979          0.291          0              0              0              71
  28  Kettle          -1.431         0.949          -1.81          0              0              0              79
  29  Pen             -0.081         0.913          -1.395         0              0              0              69
  30  SaltShaker      -1.810         1.651          -1.866         0              90             0              50
  31  Cup             -2.074         0.112          -1.681         0              0              0              72
  32  Egg             0.115          0.948          -1.859         0              270            0              48
  33  Spatula         0.936          0.790          0.323          0              90             0              46
  34  Bowl            1.150          0.115          -1.013         0              0              0              54
  35  SprayBottle     -2.116         0.909          -1.448         0              0              0              67
  36  Pan             -1.079         0.945          -1.528         0              0              0              70
  37  SoapBottle      -1.082         1.850          -1.802         0              0              0              49
  38  Pot             -1.431         0.949          -1.525         0              0              0              77
  39  ButterKnife     -1.886         0.910          -1.793         0              0              0              67
  40  PepperShaker    1.335          1.157          -1.688         0              0              0              75
  41  DishSponge      0.641          0.772          -1.566         0              0              0              73
  42  Bread           0.927          0.989          0.031          0              0              0              69
  43  Apple           0.183          0.954          -1.758         0              270            0              48
  44  Spoon           1.047          0.776          -1.013         0              0              0              47
  45  Mug             1.070          0.957          -1.641         0              0              0              85
  46  Drawer          0.860          0.75           0.430          0              0              0
  47  Drawer          0.871          0.75           -1.134         0              0              0
  48  Sink            0.156          0.817          -1.801         0              270            0
  49  Cabinet         -0.868         2.005          -1.690         0              0              0
  50  Cabinet         -1.661         2.059          -1.684         0              90             0
  51  Cabinet         -0.817         2.059          -1.689         0              0              0
  52  Cabinet         0.860          0.402          0.665          0              0              0
  53  Cabinet         0.860          0.402          -0.552         0              0              0
  54  Cabinet         0.860          0.402          -1.365         0              0              0
  55  Cabinet         -0.244         0.402          -1.389         0              0              0
  56  Cabinet         -0.815         0.402          -1.389         0              0              0
  57  Cabinet         1.159          2.059          -0.334         0              0              0
  58  Cabinet         0.488          2.059          -1.689         0              0              0
  59  Cabinet         -0.193         2.059          -1.689         0              0              0
  60  Drawer          0.860          0.75           -0.699         0              0              0
  61  Cabinet         1.159          2.059          -1.019         0              0              0
  62  Cabinet         -1.611         2.005          -1.690         0              0              0
  63  Cabinet         0.832          0.401          -1.393         0              90             0
  64  Drawer          -2.105         0.75           -1.389         0              0              0
  65  StoveBurner     -1.081         0.941          -1.809         0              0              0
  66  Cabinet         -0.202         0.401          -1.391         0              90             0
  67  CounterTop      -1.973         0.945          -1.707         0              0              0
  68  Drawer          -0.375         0.75           -1.389         0              0              0
  69  CounterTop      1.164          0.946          -0.649         0              0              0
  70  StoveBurner     -1.081         0.941          -1.527         0              0              0
  71  CounterTop      -2.096         0.945          0.291          0              0              0
  72  Cabinet         -2.237         0.402          -1.389         0              0              0
  73  Drawer          0.584          0.75           -1.389         0              0              0
  74  Drawer          -1.795         0.75           -1.389         0              0              0
  75  CounterTop      1.5            1.197          -0.654         0              0              0
  76  Cabinet         -1.667         0.402          -1.389         0              0              0
  77  StoveBurner     -1.430         0.941          -1.525         0              0              0
  78  Drawer          -0.685         0.75           -1.389         0              0              0
  79  StoveBurner     -1.430         0.941          -1.809         0              0              0
  80  LightSwitch     -2.539         1.289          2.568          0              90             0
  81  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  82  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  83  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  84  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  85  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  86  GarbageCan      1.343          0.015          1.041          0              0              0
  87  HousePlant      1.440          1.153          0.593          0              0              0
  88  Fridge          1.417          0.0            2.101          0              0              0
  89  Window          -0.486         1.452          3.302          90             0              0
  90  SinkBasin       -0.063         0.765          -1.713         0              270            0
  91  Microwave       1.422          1.150          0.022          0              270            0
  92  Toaster         -2.066         0.900          -1.848         0              0              0
  93  Stool           -1.994         0.010          0.882          0              0              0
  94  Faucet          -0.096         1.041          -1.867         0              270            0
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: Go right and cross the room to face the sink. | STEP 2: Pick the fork up from the left side of the sink. | STEP 3: Turn to the right and face the right side of the sink. | STEP 4: Put the fork in the sink and turn the water on and then off and pick the fork up again. | STEP 5: Turn and open the drawer to the left of the sink. | STEP 6: Put the fork in the drawer. | END