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           -2.0           0.900          1.5            0              0              0
   1  Pan             1.031          0.114          -0.699         0              0              0              66
   2  Pen             -0.477         0.913          -1.789         0              0              0              82
   3  Pen             -2.131         0.775          -1.565         0              270            0              77
   4  Potato          -2.323         0.952          0.463          0              0              0              84
   5  Ladle           -2.201         0.954          0.032          0              0              0              84
   6  Ladle           -1.962         0.954          -1.448         0              0              0              80
   7  Glassbottle     -2.193         0.911          -1.448         0              0              0              80
   8  Glassbottle     1.150          0.118          0.606          0              0              0              65
   9  Fork            1.454          1.162          -1.345         0              0              0              88
  10  Fork            -1.809         0.911          -1.879         0              0              0              80
  11  Spatula         -1.835         0.925          0.291          0              90             0              84
  12  Pot             -1.081         0.949          -1.81          0              0              0              78
  13  Egg             0.115          0.948          -1.657         0              270            0              61
  14  Cup             1.275          1.367          2.351          0              270            0              101
  15  Cup             -1.809         0.910          -1.534         0              0              0              80
  16  Plate           1.325          1.368          1.976          0              270            0              101
  17  Plate           1.343          0.911          -0.990         0              0              0              82
  18  Knife           -1.886         0.940          -1.707         0              180            0              80
  19  Knife           1.113          0.804          -1.068         0              270            0              60
  20  SoapBottle      -0.603         1.655          -1.839         0              0              0              64
  21  Tomato          -1.732         0.950          -1.793         0              0              0              80
  22  Bowl            1.454          1.162          -1.688         0              0              0              88
  23  PepperShaker    1.092          0.112          0.430          0              0              0              65
  24  PepperShaker    0.358          1.650          -1.876         0              0              0              72
  25  SaltShaker      -0.309         0.111          -1.732         0              0              0              68
  26  SaltShaker      -0.313         1.650          -1.839         0              0              0              64
  27  Bread           1.494          1.240          -1.002         0              0              0              88
  28  Lettuce         1.260          0.980          -0.65          0              0              0              82
  29  Lettuce         1.376          1.436          2.226          0              270            0              101
  30  Mug             1.070          0.957          -1.641         0              0              0              98
  31  Apple           1.356          1.754          1.650          0              270            0              101
  32  Apple           1.302          0.249          1.022          0              0              0              99
  33  Tomato          1.420          0.254          1.137          0              0              0              99
  34  Glassbottle     1.283          1.656          -1.500         0              0              0              74
  35  Knife           -2.323         0.940          0.377          0              180            0              84
  36  Plate           1.342          1.656          -0.500         0              0              0              70
  37  Fork            -1.732         0.911          -1.534         0              90             0              80
  38  Ladle           -2.201         0.954          0.204          0              0              0              84
  39  Potato          1.275          1.409          2.476          0              270            0              101
  40  Lettuce         1.325          1.436          1.726          0              270            0              101
  41  Kettle          1.520          1.657          -1.342         0              0              0              74
  42  Pen             -2.079         0.913          0.204          0              0              0              84
  43  SaltShaker      0.889          1.650          -1.764         0              0              0              71
  44  Cup             1.356          1.720          1.901          0              270            0              101
  45  Egg             1.314          1.846          2.557          0              270            0              101
  46  Spatula         1.296          1.177          -1.688         0              90             0              88
  47  Bowl            0.217          0.920          -1.758         0              270            0              61
  48  SprayBottle     -1.712         0.909          0.118          0              0              0              84
  49  Pan             -1.431         0.949          -1.525         0              0              0              90
  50  SoapBottle      -0.703         0.911          -1.704         0              180            0              82
  51  Pot             -1.431         0.949          -1.81          0              0              0              92
  52  ButterKnife     0.569          0.911          -1.704         0              0              0              82
  53  PepperShaker    -2.079         0.905          0.463          0              0              0              84
  54  DishSponge      -1.732         0.910          -1.965         0              0              0              80
  55  Bread           -1.957         0.988          0.204          0              0              0              84
  56  Apple           -2.445         0.945          0.204          0              0              0              84
  57  Spoon           0.416          0.774          -1.500         0              270            0              86
  58  Mug             1.441          1.260          0.188          0              270            0              104
  59  Drawer          0.860          0.75           0.430          0              0              0
  60  Drawer          0.871          0.75           -1.134         0              0              0
  61  Sink            0.156          0.817          -1.801         0              270            0
  62  Cabinet         -0.868         2.005          -1.690         0              0              0
  63  Cabinet         -1.661         2.059          -1.684         0              90             0
  64  Cabinet         -0.817         2.059          -1.689         0              0              0
  65  Cabinet         0.860          0.402          0.665          0              0              0
  66  Cabinet         0.860          0.402          -0.552         0              0              0
  67  Cabinet         0.860          0.402          -1.365         0              0              0
  68  Cabinet         -0.244         0.402          -1.389         0              0              0
  69  Cabinet         -0.815         0.402          -1.389         0              0              0
  70  Cabinet         1.159          2.059          -0.334         0              0              0
  71  Cabinet         0.488          2.059          -1.689         0              0              0
  72  Cabinet         -0.193         2.059          -1.689         0              0              0
  73  Drawer          0.860          0.75           -0.699         0              0              0
  74  Cabinet         1.159          2.059          -1.019         0              0              0
  75  Cabinet         -1.611         2.005          -1.690         0              0              0
  76  Cabinet         0.832          0.401          -1.393         0              90             0
  77  Drawer          -2.105         0.75           -1.389         0              0              0
  78  StoveBurner     -1.081         0.941          -1.809         0              0              0
  79  Cabinet         -0.202         0.401          -1.391         0              90             0
  80  CounterTop      -1.973         0.945          -1.707         0              0              0
  81  Drawer          -0.375         0.75           -1.389         0              0              0
  82  CounterTop      1.164          0.946          -0.649         0              0              0
  83  StoveBurner     -1.081         0.941          -1.527         0              0              0
  84  CounterTop      -2.096         0.945          0.291          0              0              0
  85  Cabinet         -2.237         0.402          -1.389         0              0              0
  86  Drawer          0.584          0.75           -1.389         0              0              0
  87  Drawer          -1.795         0.75           -1.389         0              0              0
  88  CounterTop      1.5            1.197          -0.654         0              0              0
  89  Cabinet         -1.667         0.402          -1.389         0              0              0
  90  StoveBurner     -1.430         0.941          -1.525         0              0              0
  91  Drawer          -0.685         0.75           -1.389         0              0              0
  92  StoveBurner     -1.430         0.941          -1.809         0              0              0
  93  LightSwitch     -2.539         1.289          2.568          0              90             0
  94  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  95  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  96  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  97  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  98  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  99  GarbageCan      1.343          0.015          1.041          0              0              0
 100  HousePlant      1.440          1.153          0.593          0              0              0
 101  Fridge          1.417          0.0            2.101          0              0              0
 102  Window          -0.486         1.452          3.302          90             0              0
 103  SinkBasin       -0.063         0.765          -1.713         0              270            0
 104  Microwave       1.422          1.150          0.022          0              270            0
 105  Toaster         -2.066         0.900          -1.848         0              0              0
 106  Stool           -1.994         0.010          0.882          0              0              0
 107  Faucet          -0.096         1.041          -1.867         0              270            0
 108  NorthWall
 109  EastWall
 110  SouthWall
 111  WestWall

Plan:
STEP 1: Go to the kitchen counter | STEP 2: Pick up the fork on the kitchen counter | STEP 3: Go to the sink | STEP 4: Wash the fork in the sink | STEP 5: Open a drawer | STEP 6: Place the fork in the drawer and shut it | END