Task: Put a clean fork in 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            0.930          -0.75          0              270            0
   1  Potato          1.008          1.286          -1.448         0              0              0              109
   2  Potato          3.335          0.939          -0.279         0              0              0              62
   3  DishSponge      2.888          0.900          -0.897         0              0              0              62
   4  Glassbottle     0.904          1.675          -1.689         0              0              0              78
   5  Glassbottle     2.987          0.748          0.098          0              90             0              108
   6  Pot             3.044          1.464          -1.648         0              270            0              61
   7  Spatula         -0.991         0.341          1.693          0              270            0              98
   8  Spoon           3.111          0.748          -0.100         0              0              0              108
   9  Spoon           1.360          0.909          0.747          0              0              0              94
  10  Apple           -1.052         1.071          1.470          0              90             0              111
  11  Apple           1.491          0.981          0.464          0              0              0              94
  12  SaltShaker      -0.950         0.514          0.401          0              0              0              60
  13  PepperShaker    -0.682         0.703          -0.658         0              45             0              57
  14  PepperShaker    -0.991         0.127          1.343          0              0              0              87
  15  Bowl            3.198          0.172          -0.356         0              0              0              74
  16  Bowl            3.173          1.461          -1.284         0              0              0              77
  17  Tomato          1.008          1.110          -1.448         0              0              0              109
  18  Egg             -1.085         1.050          1.311          0              90             0              111
  19  Egg             0.110          0.952          -1.332         0              45             0              84
  20  Cup             -0.717         0.898          -0.494         0              0              0              63
  21  Cup             0.254          1.257          -1.672         0              0              0              79
  22  Plate           3.084          0.190          0.770          0              0              0              72
  23  Knife           -0.991         0.156          1.518          0              90             0              87
  24  Plate           0.798          0.923          0.527          0              0              0              94
  25  Glassbottle     3.028          0.176          -0.501         0              0              0              74
  26  SoapBottle      2.914          0.184          -0.501         0              0              0              74
  27  Potato          0.773          1.286          -1.531         0              0              0              109
  28  Fork            2.966          0.901          -0.300         0              0              0              62
  29  Ladle           -0.991         0.363          1.255          0              90             0              98
  30  Pot             0.423          0.900          0.869          0              0              0              94
  31  Kettle          -0.419         0.902          -1.269         0              315            0              65
  32  Spatula         -0.909         0.533          1.693          0              270            0              51
  33  Knife           0.716          0.936          0.135          0              36.810         0              94
  34  Lettuce         -0.909         0.965          -0.722         0              45             0              63
  35  Cup             1.164          0.711          -1.433         0              0              0              109
  36  SaltShaker      -0.806         0.896          -0.620         0              45             0              63
  37  Egg             -0.675         0.952          -0.753         0              45             0              63
  38  PepperShaker    0.179          0.896          -1.445         0              0              0              84
  39  ButterKnife     -0.868         0.130          0.489          0              0              0              93
  40  Apple           3.355          0.974          -0.698         0              0              0              62
  41  Pan             -0.600         0.902          -1.090         0              135            0              52
  42  Bread           -0.862         0.979          -0.047         0              0              0              63
  43  CellPhone       0.376          0.317          -1.515         0              0              0              69
  44  DishSponge      -0.827         0.130          0.076          0              0              0              83
  45  Tomato          1.491          0.945          0.322          0              0              0              94
  46  Spoon           0.436          0.909          0.223          0              36.810         0              94
  47  Bowl            1.160          1.671          -1.550         0              0              0              54
  48  Mug             0.404          1.254          -1.707         0              0              0              79
  49  Drawer          0.376          0.572          -1.509         0              0              0
  50  Drawer          3.020          0.769          -0.783         0              180            0
  51  Drawer          -0.860         0.577          1.429          0              0              0
  52  StoveBurner     -0.600         0.897          -1.090         0              135            0
  53  Drawer          0.376          0.191          -1.509         0              0              0
  54  Cabinet         1.402          1.874          -1.259         0              0              0
  55  Cabinet         -0.202         1.963          -1.328         0              0              0
  56  Drawer          -0.860         0.765          1.429          0              0              0
  57  Drawer          -0.677         0.765          -0.700         0              0              0
  58  StoveBurner     -0.420         0.897          -0.920         0              135            0
  59  Drawer          3.020          0.769          -0.407         0              180            0
  60  Drawer          -0.860         0.577          0.663          0              0              0
  61  Cabinet         2.819          1.768          -1.850         0              0              0
  62  CounterTop      3.111          0.936          0.019          0              0              0
  63  CounterTop      -1.007         0.935          -0.039         0              0              0
  64  Drawer          -0.860         0.385          0.663          0              0              0
  65  StoveBurner     -0.419         0.897          -1.269         0              315            0
  66  Drawer          -0.047         0.573          -1.324         0              0              0
  67  Drawer          -0.860         0.765          0.663          0              0              0
  68  Drawer          -0.860         0.385          -0.100         0              0              0
  69  Drawer          0.376          0.380          -1.509         0              0              0
  70  Drawer          -0.860         0.765          -0.100         0              0              0
  71  Drawer          0.376          0.765          -1.509         0              0              0
  72  Cabinet         2.849          0.419          0.409          0              0              0
  73  Drawer          -0.047         0.765          -1.324         0              0              0
  74  Cabinet         2.849          0.419          -0.610         0              0              0
  75  Cabinet         2.849          0.419          -0.959         0              0              0
  76  Cabinet         3.069          1.666          -0.709         0              0              0
  77  Cabinet         2.819          1.768          -1.047         0              0              0
  78  Cabinet         0.620          1.874          -1.259         0              0              0
  79  Cabinet         0.140          1.666          -1.559         0              0              0
  80  Cabinet         -0.189         1.666          -1.340         0              0              0
  81  Cabinet         -0.709         1.963          -0.819         0              0              0
  82  Cabinet         -0.920         1.665          -0.620         0              0              0
  83  Drawer          -0.860         0.190          -0.100         0              0              0
  84  CounterTop      0.133          0.935          -1.457         0              0              0
  85  Drawer          3.020          0.769          0.695          0              180            0
  86  Drawer          -0.677         0.577          -0.700         0              0              0
  87  Drawer          -0.860         0.190          1.429          0              0              0
  88  Drawer          -0.047         0.192          -1.324         0              0              0
  89  Drawer          -0.677         0.193          -0.700         0              0              0
  90  Drawer          -0.860         0.577          -0.100         0              0              0
  91  Sink            3.078          0.887          0.086          0              0              0
  92  StoveBurner     -0.239         0.897          -1.089         0              315            0
  93  Drawer          -0.860         0.190          0.663          0              0              0
  94  CounterTop      1.210          0.937          0.463          0              0              0
  95  Drawer          -0.047         0.381          -1.324         0              0              0
  96  Drawer          -0.677         0.387          -0.700         0              0              0
  97  Mirror          -1.295         1.630          0.045          0              0              0
  98  Drawer          -0.860         0.385          1.429          0              0              0
  99  HousePlant      3.196          0.891          -0.368         0              0              0
 100  StoveKnob       -0.090         0.790          -1.009         270            45             0
 101  StoveKnob       -0.280         0.790          -0.819         270            45             0
 102  StoveKnob       -0.180         0.790          -0.920         270            45             0
 103  StoveKnob       -0.370         0.790          -0.720         270            45             0
 104  GarbageCan      3.137          0.025          1.545          0              225            0
 105  Window          3.703          1.675          0.046          90             90             0
 106  CoffeeMachine   3.214          0.890          0.697          0              270            0
 107  LightSwitch     2.592          1.309          -1.880         0              0              0
 108  SinkBasin       3.069          0.736          0.108          0              90             0
 109  Fridge          1.008          0.029          -1.467         0              0              0
 110  Toaster         -1.035         0.873          -0.396         0              90             0
 111  Microwave       -1.034         0.874          1.428          0              90             0
 112  Faucet          3.305          0.886          0.094          270            180            0
 113  NorthWall
 114  EastWall
 115  SouthWall
 116  WestWall

Plan:
STEP 1: Turn around and go to the kitchen counter to the right of the sink. | STEP 2: Pick up the fork on the counter, that is in front of the paper towel holder.  | STEP 3: Place the fork in the sink, between the vase and the spoon, turn the water on, rinse the fork, turn the water off, and remove the fork from the sink. | STEP 4: Go to the furthest end of the counter to your right.  | STEP 5: Place the fork in the top drawer, under the counter. | END