Task: Put a rinsed 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           1.5            0.900          -1.0           0              180            0
   1  Kettle          1.361          0.962          0.294          0              180            0              41
   2  Pan             -0.451         0.911          -1.820         0              180            0              46
   3  ButterKnife     -1.791         0.952          0.524          0              90             0              79
   4  ButterKnife     1.724          0.912          0.540          0              0              0              61
   5  Spoon           0.394          0.775          0.338          0              270            0              42
   6  Spatula         -2.340         0.967          0.435          0              180            0              79
   7  Egg             -2.614         0.987          0.614          0              90             0              79
   8  Cup             0.504          0.108          0.308          0              0              0              57
   9  Cup             1.601          0.910          0.292          0              0              0              61
  10  Knife           0.701          0.944          -1.649         0              270            0              44
  11  Bowl            -2.31          1.051          -1.806         0              0              0              76
  12  SaltShaker      1.663          0.908          0.540          0              0              0              61
  13  SaltShaker      -2.614         0.948          0.165          0              90             0              79
  14  PepperShaker    -2.340         0.948          0.345          0              90             0              79
  15  Apple           -1.791         1.019          0.704          0              90             0              79
  16  Apple           -1.959         1.118          -1.720         0              0              0              76
  17  Bread           -0.267         0.995          -1.489         0              0              0              46
  18  Knife           1.907          0.937          0.458          0              90             0              61
  19  Fork            -2.203         0.952          0.255          0              90             0              79
  20  Bowl            -0.634         0.110          -1.545         0              0              0              60
  21  Kettle          1.792          0.109          0.311          0              0              0              61
  22  Cup             -1.959         1.491          -1.677         0              0              0              76
  23  Tomato          0.377          0.831          -1.648         0              270            0              69
  24  SoapBottle      -0.427         0.068          0.525          0              90             0              75
  25  Plate           -0.418         1.329          -1.809         0              180            0              40
  26  Pot             1.007          0.962          0.561          0              270            0              48
  27  Spatula         1.535          0.927          -1.571         0              0              0              46
  28  PaperTowelRoll  -0.096         1.016          0.623          0              0              0              45
  29  Egg             -0.267         0.947          -1.903         0              0              0              46
  30  Lettuce         -2.065         1.042          0.614          0              90             0              79
  31  SaltShaker      1.785          0.908          0.292          0              0              0              61
  32  PepperShaker    1.846          0.908          0.375          0              0              0              61
  33  Apple           1.785          0.979          0.458          0              0              0              61
  34  ButterKnife     1.412          0.912          -1.820         0              0              0              46
  35  Potato          0.306          0.806          -1.552         0              270            0              69
  36  Pan             1.022          0.959          0.288          0              219.190        0              58
  37  DishSponge      1.907          0.911          0.209          0              0              0              61
  38  Spoon           1.903          0.913          -1.737         0              0              0              46
  39  Mug             0.035          0.907          0.458          0              0              0              45
  40  Cabinet         -0.193         1.688          -1.648         0              180            0
  41  StoveBurner     1.360          0.957          0.293          0              180            0
  42  Drawer          0.499          0.792          0.296          0              0              0
  43  Cabinet         0.095          0.400          -1.352         0              180            0
  44  Sink            0.711          0.817          -1.772         0              270            0
  45  CounterTop      0.280          0.947          0.458          0              0              0
  46  CounterTop      -0.680         0.947          -1.654         0              0              0
  47  Drawer          1.825          0.792          0.296          0              0              0
  48  StoveBurner     1.007          0.957          0.561          0              270            0
  49  Drawer          -0.150         0.792          -1.496         0              0              0
  50  Drawer          -0.586         0.792          -1.496         0              0              0
  51  StoveBurner     1.360          0.957          0.561          0              270            0
  52  Drawer          0.024          0.792          0.296          0              0              0
  53  Cabinet         1.079          0.400          -1.349         0              180            0
  54  Cabinet         1.669          0.402          0.151          0              0              0
  55  Cabinet         0.055          0.402          -1.351         0              0              0
  56  Cabinet         -0.180         0.402          0.151          0              0              0
  57  Cabinet         0.729          0.402          0.151          0              0              0
  58  StoveBurner     1.007          0.957          0.293          0              180            0
  59  Drawer          -1.100         0.792          -1.496         0              0              0
  60  Cabinet         -0.396         0.402          -1.351         0              0              0
  61  CounterTop      1.776          0.947          0.458          0              0              0
  62  Cabinet         1.974          1.688          -1.648         0              180            0
  63  Cabinet         -0.820         0.400          -1.349         0              180            0
  64  Toaster         0.305          0.900          0.552          0              180            0
  65  LightSwitch     -2.756         1.307          -0.987         0              90             0
  66  Window          0.582          1.613          -1.967         90             0              0
  67  Window          1.969          1.5            -0.615         90             270            0
  68  Microwave       -1.037         0.900          -1.723         0              0              0
  69  SinkBasin       0.377          0.765          -1.655         0              270            0
  70  CoffeeMachine   0.618          0.900          0.600          0              180            0
  71  StoveKnob       1.246          0.913          0.118          45             180            0
  72  StoveKnob       1.373          0.913          0.118          45             180            0
  73  StoveKnob       0.995          0.913          0.118          45             180            0
  74  StoveKnob       1.126          0.913          0.118          45             180            0
  75  GarbageCan      -0.368         -0.029         0.539          0              90             0
  76  Fridge          -2.134         0.0            -1.690         0              0              0
  77  Faucet          0.549          1.046          -1.833         0              232.527        0
  78  Stool           -1.475         0.000          0.414          1.233          280.375        0
  79  DiningTable     -2.255         -0.004         0.432          0              0              0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn around and go to the table. | STEP 2: Pick up a fork. | STEP 3: Turn around and go to the sink. | STEP 4: Rinse off the fork. | STEP 5: Turn around and open the drawer on the far let. | STEP 6: Put the fork in the drawer. | END