Task: Put the clean for inside the cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.900          -0.75          0              90             0
   1  DishSponge      -2.614         0.951          0.165          0              90             0              89
   2  ButterKnife     -0.175         0.912          -1.737         0              0              0              56
   3  Pot             1.007          0.962          0.561          0              270            0              58
   4  Fork            -0.359         0.912          -1.571         0              0              0              56
   5  Fork            0.167          0.912          0.209          0              0              0              55
   6  Fork            0.432          0.912          0.209          0              180            0              55
   7  Spoon           0.300          0.913          0.209          0              0              0              55
   8  Spoon           1.785          0.913          0.292          0              0              0              71
   9  Spatula         -2.065         0.967          0.435          0              90             0              89
  10  Spatula         -1.928         0.967          0.165          0              180            0              89
  11  Egg             -2.222         0.815          -1.806         0              0              0              86
  12  Egg             -1.079         1.050          -1.704         0              0              0              78
  13  Cup             0.035          0.910          0.458          0              0              0              55
  14  Cup             0.697          0.910          0.292          0              0              0              55
  15  Plate           0.271          0.109          -1.509         0              180            0              53
  16  Knife           1.658          0.937          -1.820         0              0              0              56
  17  SoapBottle      0.753          0.918          -1.449         0              270            0              54
  18  Tomato          1.781          0.961          -1.654         0              0              0              56
  19  Tomato          -2.31          1.100          -1.720         0              0              0              86
  20  SaltShaker      1.828          1.325          -1.919         0              180            0              72
  21  SaltShaker      -2.203         0.948          0.345          0              90             0              89
  22  PepperShaker    1.289          0.908          -1.654         0              0              0              56
  23  PepperShaker    -2.203         0.948          0.165          0              90             0              89
  24  Bread           -0.096         0.995          0.458          0              0              0              55
  25  Apple           -0.267         0.979          -1.406         0              0              0              56
  26  Apple           -1.872         0.578          -1.677         0              0              0              86
  27  Bread           -2.065         1.035          0.614          0              90             0              89
  28  Knife           0.701          0.944          -1.582         0              270            0              54
  29  Fork            -1.791         0.952          0.524          0              90             0              89
  30  Bowl            1.867          0.107          0.348          0              0              0              64
  31  Kettle          -0.055         0.9            0.643          0              0              0              55
  32  Cup             1.601          0.910          0.623          0              0              0              71
  33  Tomato          -0.362         0.119          0.569          0              90             0              85
  34  SoapBottle      -1.928         0.950          0.255          0              90             0              89
  35  Plate           0.562          0.111          0.308          0              0              0              67
  36  Pot             1.361          0.962          0.561          0              270            0              61
  37  Spatula         -2.065         0.967          0.255          0              0              0              89
  38  PaperTowelRoll  -0.394         0.174          0.396          0              90             0              85
  39  Egg             1.412          0.947          -1.654         0              0              0              56
  40  Lettuce         1.846          1.002          0.292          0              0              0              71
  41  SaltShaker      -1.791         0.948          0.704          0              90             0              89
  42  PepperShaker    0.167          0.908          0.706          0              0              0              55
  43  Apple           -2.135         0.578          -1.763         0              0              0              86
  44  ButterKnife     -0.451         0.912          -1.737         0              0              0              56
  45  Potato          -0.975         1.045          -1.737         0              0              0              78
  46  Pan             1.022          0.959          0.288          0              219.190        0              68
  47  DishSponge      -2.477         0.951          0.704          0              90             0              89
  48  Spoon           -0.096         0.913          0.209          0              0              0              55
  49  Mug             0.753          0.914          -1.715         0              180            0              54
  50  Cabinet         -0.193         1.688          -1.648         0              180            0
  51  StoveBurner     1.360          0.957          0.293          0              180            0
  52  Drawer          0.499          0.792          0.296          0              0              0
  53  Cabinet         0.095          0.400          -1.352         0              180            0
  54  Sink            0.711          0.817          -1.772         0              270            0
  55  CounterTop      0.280          0.947          0.458          0              0              0
  56  CounterTop      -0.680         0.947          -1.654         0              0              0
  57  Drawer          1.825          0.792          0.296          0              0              0
  58  StoveBurner     1.007          0.957          0.561          0              270            0
  59  Drawer          -0.150         0.792          -1.496         0              0              0
  60  Drawer          -0.586         0.792          -1.496         0              0              0
  61  StoveBurner     1.360          0.957          0.561          0              270            0
  62  Drawer          0.024          0.792          0.296          0              0              0
  63  Cabinet         1.079          0.400          -1.349         0              180            0
  64  Cabinet         1.669          0.402          0.151          0              0              0
  65  Cabinet         0.055          0.402          -1.351         0              0              0
  66  Cabinet         -0.180         0.402          0.151          0              0              0
  67  Cabinet         0.729          0.402          0.151          0              0              0
  68  StoveBurner     1.007          0.957          0.293          0              180            0
  69  Drawer          -1.100         0.792          -1.496         0              0              0
  70  Cabinet         -0.396         0.402          -1.351         0              0              0
  71  CounterTop      1.776          0.947          0.458          0              0              0
  72  Cabinet         1.974          1.688          -1.648         0              180            0
  73  Cabinet         -0.820         0.400          -1.349         0              180            0
  74  Toaster         0.305          0.900          0.552          0              180            0
  75  LightSwitch     -2.756         1.307          -0.987         0              90             0
  76  Window          0.582          1.613          -1.967         90             0              0
  77  Window          1.969          1.5            -0.615         90             270            0
  78  Microwave       -1.037         0.900          -1.723         0              0              0
  79  SinkBasin       0.377          0.765          -1.655         0              270            0
  80  CoffeeMachine   0.618          0.900          0.600          0              180            0
  81  StoveKnob       1.246          0.913          0.118          45             180            0
  82  StoveKnob       1.373          0.913          0.118          45             180            0
  83  StoveKnob       0.995          0.913          0.118          45             180            0
  84  StoveKnob       1.126          0.913          0.118          45             180            0
  85  GarbageCan      -0.368         -0.029         0.539          0              90             0
  86  Fridge          -2.134         0.0            -1.690         0              0              0
  87  Faucet          0.549          1.046          -1.833         0              232.527        0
  88  Stool           -1.475         0.000          0.414          1.233          280.375        0
  89  DiningTable     -2.255         -0.004         0.432          0              0              0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Walk straight then turn to the counter on your left | STEP 2: Pick up the second fork from your left | STEP 3: Turn around and go to the sink | STEP 4: Put the fork on the sink and rinse it | STEP 5: Pick up the fork then turn around to your left then move towards the end of the counted | STEP 6: Pull the first cabinet on your left and put the fork inside then close the cabinet | END