Task: To rinse off a fork and put it 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           -2.0           0.900          1.5            0              0              0
   1  Pan             -0.244         0.829          1.684          0              0              0              49
   2  Ladle           -2.752         1.479          0.260          0              45             0              56
   3  Fork            -1.876         0.824          0.539          0              0              0              50
   4  Fork            -2.698         0.692          1.474          0              90             0              55
   5  Fork            -0.296         0.697          0.875          0              90             0              52
   6  Spoon           -2.563         0.693          1.474          0              90             0              55
   7  Spoon           -1.133         0.699          0.410          0              90             0              54
   8  Cup             -1.885         0.125          0.401          0              0              0              62
   9  Cup             -2.687         0.121          1.510          0              0              0              61
  10  Plate           -1.522         0.130          0.440          0              0              0              63
  11  Knife           -2.375         0.849          0.203          0              0              0              50
  12  Knife           -0.817         0.849          0.352          0              90             0              50
  13  Tomato          -2.726         0.874          2.045          0              90             0              68
  14  SoapBottle      -0.395         0.054          2.674          0              0              0              70
  15  Bowl            -2.540         1.845          2.316          0              0              0              60
  16  PepperShaker    -0.482         0.818          0.500          0              0              0              50
  17  PepperShaker    -2.416         1.431          0.114          0              90             0              57
  18  Lettuce         -2.781         1.529          2.045          0              90             0              68
  19  Mug             -2.782         1.440          2.397          0              90             0              68
  20  Apple           -2.837         0.897          2.221          0              90             0              68
  21  Apple           -0.295         0.129          2.572          0              0              0              70
  22  Apple           -1.538         0.748          0.186          0              0              0              77
  23  Fork            -0.169         0.824          1.214          0              90             0              50
  24  Ladle           -0.371         0.738          0.879          0              45             0              52
  25  Pan             -0.244         0.829          2.075          0              180            0              45
  26  SoapBottle      -2.258         0.821          0.055          0              0              0              50
  27  Pot             -0.531         0.822          2.096          0              0              0              47
  28  Tomato          -2.892         1.193          1.957          0              90             0              68
  29  Potato          -2.671         0.863          2.309          0              90             0              68
  30  SaltShaker      -0.314         0.818          0.500          0              0              0              50
  31  Plate           -2.115         0.130          0.362          0              0              0              62
  32  Spatula         -2.375         0.838          0.500          0              0              0              50
  33  Knife           -2.662         0.819          0.557          90             300.034        0              50
  34  Egg             -2.892         0.849          2.485          0              90             0              68
  35  Cup             -2.882         1.434          1.588          0              0              0              58
  36  ButterKnife     -2.840         0.823          0.278          0              0              0              50
  37  Lettuce         -1.836         0.741          0.238          0              55.910         0              77
  38  PepperShaker    -2.569         0.116          1.392          0              0              0              61
  39  DishSponge      -2.882         1.434          1.049          0              0              0              58
  40  Bread           -0.979         0.855          0.249          0              29.999         0              50
  41  Spoon           -1.189         0.699          0.444          0              270            0              54
  42  Mug             -2.781         1.138          2.133          0              90             0              68
  43  Bowl            -2.810         0.918          1.284          0              90             0              69
  44  Cabinet         -2.377         2.015          1.720          0              0              0
  45  StoveBurner     -0.244         0.820          2.075          0              180            0
  46  Drawer          -0.402         0.703          1.252          0              0              0
  47  StoveBurner     -0.518         0.820          2.075          0              180            0
  48  Sink            -1.838         0.726          0.343          0              180            0
  49  StoveBurner     -0.244         0.820          1.684          0              0              0
  50  CounterTop      -1.557         0.859          0.277          0              0              0
  51  StoveBurner     -0.518         0.820          1.684          0              0              0
  52  Drawer          -0.404         0.704          0.912          0              0              0
  53  Drawer          -0.861         0.709          0.420          0              0              0
  54  Drawer          -1.133         0.706          0.418          0              0              0
  55  Drawer          -2.589         0.703          1.511          0              0              0
  56  Cabinet         -2.772         1.803          0.508          0              0              0
  57  Cabinet         -2.460         1.803          0.231          0              0              0
  58  Cabinet         -2.781         1.798          0.825          0              0              0
  59  Cabinet         -2.781         1.798          0.815          0              0              0
  60  Cabinet         -2.377         2.009          2.581          0              0              0
  61  Cabinet         -2.442         0.385          1.672          0              0              0
  62  Cabinet         -2.238         0.385          0.564          0              0              0
  63  Cabinet         -1.286         0.385          0.564          0              0              0
  64  Cabinet         -1.262         0.385          0.565          0              0              0
  65  Cabinet         -0.734         0.385          0.565          0              0              0
  66  Cabinet         -0.549         0.385          0.751          0              0              0
  67  Cabinet         -0.549         0.385          1.412          0              0              0
  68  Fridge          -2.782         0.0            2.221          0              0              0
  69  Microwave       -2.794         0.812          1.348          0              90             0
  70  GarbageCan      -0.329         2.205          2.606          0              0              0
  71  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  72  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  73  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  74  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  75  Window          -1.720         1.342          -0.208         90             0              0
  76  Toaster         -0.171         0.812          0.735          0              270            0
  77  SinkBasin       -1.745         0.687          0.295          0              0              0
  78  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  79  LightSwitch     -0.615         1.378          3.0            0              180            0
  80  Faucet          -1.686         0.954          0.176          0              236.223        0
  81  Stool           -1.008         0.008          1.955          0              18.279         0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Walk to the counter to the right of the stove.  | STEP 2: Pick up the fork to the left of the toaster.  | STEP 3: Walk to the sink on the right.  | STEP 4: Put the fork down in the left side of the sink, rinse of the fork, pick up the fork.  | STEP 5: Turn left to face the counter to the right of the stove.  | STEP 6: Open the drawer below the counter, put the fork in the drawer, close the drawer.  | END