Task: put clean fork in 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          2.25           0              90             0
   1  Potato          -2.892         0.863          2.045          0              90             0              63
   2  Potato          -0.477         0.862          0.770          0              0              0              45
   3  DishSponge      -2.579         1.848          2.368          0              0              0              55
   4  Fork            -0.296         0.697          0.949          0              270            0              47
   5  Spoon           -0.394         0.695          1.215          0              0              0              41
   6  Spoon           -1.217         0.699          0.444          0              270            0              49
   7  Spatula         -2.724         0.838          0.426          0              180            0              45
   8  Spatula         -2.658         0.838          0.953          0              180            0              45
   9  Cup             -2.781         1.144          2.133          0              90             0              63
  10  Plate           -2.757         1.439          0.320          0              45             0              51
  11  Tomato          -2.671         0.874          2.045          0              90             0              63
  12  Bowl            -2.609         0.118          1.550          0              0              0              56
  13  SaltShaker      -2.835         1.429          1.588          0              0              0              53
  14  PepperShaker    -2.375         0.818          0.055          0              0              0              45
  15  PepperShaker    -1.207         0.818          0.046          0              0              0              45
  16  Mug             -2.777         0.916          1.284          0              90             0              64
  17  Apple           -2.892         0.897          2.485          0              90             0              63
  18  Fork            -1.876         0.824          0.539          0              0              0              45
  19  Ladle           -2.540         1.893          1.926          0              0              0              39
  20  Pan             -0.244         0.829          2.075          0              180            0              40
  21  SoapBottle      -1.151         0.821          0.426          0              0              0              45
  22  Pot             -0.531         0.822          2.096          0              0              0              42
  23  Tomato          -0.295         0.106          2.606          0              0              0              65
  24  Potato          -0.477         0.862          1.326          0              0              0              45
  25  SaltShaker      -2.929         1.430          0.605          0              0              0              54
  26  Plate           -2.782         0.829          2.221          0              90             0              63
  27  Spatula         -0.314         0.838          0.352          0              180            0              45
  28  Knife           -2.840         0.849          0.352          0              270            0              45
  29  Egg             -2.744         0.945          1.125          0              90             0              64
  30  Cup             -2.377         1.436          0.142          0              0              0              52
  31  ButterKnife     -2.493         0.812          0.476          0              50.734         0              45
  32  Lettuce         -1.836         0.741          0.238          0              55.910         0              72
  33  PepperShaker    -2.834         1.430          0.674          0              0              0              54
  34  DishSponge      -2.504         0.823          0.871          0              0              0              45
  35  Bread           -0.979         0.855          0.249          0              29.999         0              45
  36  Spoon           -1.077         0.699          0.377          0              90             0              49
  37  Mug             -2.726         1.440          2.133          0              90             0              63
  38  Bowl            -2.000         0.121          0.401          0              0              0              57
  39  Cabinet         -2.377         2.015          1.720          0              0              0
  40  StoveBurner     -0.244         0.820          2.075          0              180            0
  41  Drawer          -0.402         0.703          1.252          0              0              0
  42  StoveBurner     -0.518         0.820          2.075          0              180            0
  43  Sink            -1.838         0.726          0.343          0              180            0
  44  StoveBurner     -0.244         0.820          1.684          0              0              0
  45  CounterTop      -1.557         0.859          0.277          0              0              0
  46  StoveBurner     -0.518         0.820          1.684          0              0              0
  47  Drawer          -0.404         0.704          0.912          0              0              0
  48  Drawer          -0.861         0.709          0.420          0              0              0
  49  Drawer          -1.133         0.706          0.418          0              0              0
  50  Drawer          -2.589         0.703          1.511          0              0              0
  51  Cabinet         -2.772         1.803          0.508          0              0              0
  52  Cabinet         -2.460         1.803          0.231          0              0              0
  53  Cabinet         -2.781         1.798          0.825          0              0              0
  54  Cabinet         -2.781         1.798          0.815          0              0              0
  55  Cabinet         -2.377         2.009          2.581          0              0              0
  56  Cabinet         -2.442         0.385          1.672          0              0              0
  57  Cabinet         -2.238         0.385          0.564          0              0              0
  58  Cabinet         -1.286         0.385          0.564          0              0              0
  59  Cabinet         -1.262         0.385          0.565          0              0              0
  60  Cabinet         -0.734         0.385          0.565          0              0              0
  61  Cabinet         -0.549         0.385          0.751          0              0              0
  62  Cabinet         -0.549         0.385          1.412          0              0              0
  63  Fridge          -2.782         0.0            2.221          0              0              0
  64  Microwave       -2.794         0.812          1.348          0              90             0
  65  GarbageCan      -0.329         2.205          2.606          0              0              0
  66  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  67  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  68  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  69  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  70  Window          -1.720         1.342          -0.208         90             0              0
  71  Toaster         -0.171         0.812          0.735          0              270            0
  72  SinkBasin       -1.745         0.687          0.295          0              0              0
  73  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  74  LightSwitch     -0.615         1.378          3.0            0              180            0
  75  Faucet          -1.686         0.954          0.176          0              236.223        0
  76  Stool           -1.008         0.008          1.955          0              18.279         0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: turn right, walk to sink | STEP 2: pick up the fork that is in front of the sink | STEP 3: move two steps to the left | STEP 4: put the fork in the sink, fill with water, take fork out | STEP 5: turn to the left to face counter | STEP 6: put the fork in the drawer | END