Task: place a clean fork 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           -0.25          0.930          0.0            0              90             0
   1  Potato          1.008          0.751          -1.407         0              0              0              111
   2  Ladle           3.244          1.501          -1.186         0              0              0              79
   3  Ladle           -0.991         0.363          0.576          0              90             0              66
   4  Glassbottle     3.028          0.176          -0.744         0              0              0              77
   5  Spoon           3.111          0.748          0.165          0              0              0              110
   6  Spoon           3.029          0.713          -0.744         0              180            0              52
   7  Fork            0.602          0.908          0.098          0              36.810         0              96
   8  CellPhone       -1.008         0.897          0.176          0              0              0              65
   9  CellPhone       0.468          0.509          -1.434         0              0              0              51
  10  Mug             1.064          0.905          0.483          0              36.810         0              96
  11  Apple           3.200          0.974          -0.599         0              0              0              64
  12  Apple           -0.789         0.974          -0.047         0              0              0              65
  13  SaltShaker      2.988          0.708          -0.744         0              180            0              52
  14  PepperShaker    -0.224         1.259          -1.460         0              45             0              82
  15  PepperShaker    -0.612         0.703          -0.728         0              45             0              59
  16  Bowl            0.445          0.908          0.426          0              0              0              96
  17  SoapBottle      2.976          1.473          -1.648         0              0              0              63
  18  SoapBottle      3.113          1.473          -1.746         0              0              0              63
  19  Egg             3.152          0.799          0.032          0              90             0              110
  20  Egg             -1.018         1.050          1.311          0              90             0              113
  21  Cup             1.242          1.245          -1.475         0              0              0              111
  22  Plate           -1.008         0.913          0.399          0              0              0              65
  23  Plate           0.808          1.687          -1.619         0              0              0              80
  24  Knife           -0.936         0.925          -0.695         0              135            0              65
  25  Knife           0.110          0.925          -1.332         0              45             0              86
  26  Plate           3.084          0.188          -0.404         0              0              0              76
  27  Glassbottle     3.155          0.101          1.573          0              225            0              106
  28  SoapBottle      -0.944         1.267          -0.884         0              45             0              84
  29  Potato          -0.991         0.938          -0.640         0              45             0              65
  30  Fork            -0.868         0.131          -0.186         0              0              0              85
  31  Ladle           -0.991         0.555          0.751          0              90             0              62
  32  Pot             0.423          0.900          0.869          0              0              0              96
  33  Kettle          -0.237         0.900          -1.099         0              45             0              94
  34  Spatula         3.152          0.762          -0.100         0              0              0              110
  35  Knife           0.533          0.936          0.727          0              180            0              96
  36  Lettuce         -0.085         0.965          -1.342         0              45             0              86
  37  Cup             1.242          0.709          -1.433         0              0              0              111
  38  SaltShaker      0.436          0.907          0.223          0              36.810         0              96
  39  Egg             0.773          1.300          -1.531         0              0              0              111
  40  PepperShaker    3.277          0.897          -0.897         0              0              0              64
  41  ButterKnife     -0.868         0.326          -0.273         0              0              0              70
  42  Apple           -0.574         0.974          -0.652         0              45             0              65
  43  Pan             -0.419         0.902          -1.269         0              315            0              67
  44  Bread           -0.935         0.979          0.846          0              0              0              65
  45  CellPhone       -0.853         0.897          -0.877         0              45             0              65
  46  DishSponge      0.054          0.899          -1.481         0              45             0              86
  47  Tomato          0.851          1.110          -1.503         0              0              0              111
  48  Spoon           2.966          0.901          -0.599         0              0              0              64
  49  Bowl            1.160          1.671          -1.689         0              0              0              56
  50  Mug             3.049          0.966          0.591          0              270            0              108
  51  Drawer          0.376          0.572          -1.509         0              0              0
  52  Drawer          3.020          0.769          -0.783         0              180            0
  53  Drawer          -0.860         0.577          1.429          0              0              0
  54  StoveBurner     -0.600         0.897          -1.090         0              135            0
  55  Drawer          0.376          0.191          -1.509         0              0              0
  56  Cabinet         1.402          1.874          -1.259         0              0              0
  57  Cabinet         -0.202         1.963          -1.328         0              0              0
  58  Drawer          -0.860         0.765          1.429          0              0              0
  59  Drawer          -0.677         0.765          -0.700         0              0              0
  60  StoveBurner     -0.420         0.897          -0.920         0              135            0
  61  Drawer          3.020          0.769          -0.407         0              180            0
  62  Drawer          -0.860         0.577          0.663          0              0              0
  63  Cabinet         2.819          1.768          -1.850         0              0              0
  64  CounterTop      3.111          0.936          0.019          0              0              0
  65  CounterTop      -1.007         0.935          -0.039         0              0              0
  66  Drawer          -0.860         0.385          0.663          0              0              0
  67  StoveBurner     -0.419         0.897          -1.269         0              315            0
  68  Drawer          -0.047         0.573          -1.324         0              0              0
  69  Drawer          -0.860         0.765          0.663          0              0              0
  70  Drawer          -0.860         0.385          -0.100         0              0              0
  71  Drawer          0.376          0.380          -1.509         0              0              0
  72  Drawer          -0.860         0.765          -0.100         0              0              0
  73  Drawer          0.376          0.765          -1.509         0              0              0
  74  Cabinet         2.849          0.419          0.409          0              0              0
  75  Drawer          -0.047         0.765          -1.324         0              0              0
  76  Cabinet         2.849          0.419          -0.610         0              0              0
  77  Cabinet         2.849          0.419          -0.959         0              0              0
  78  Cabinet         3.069          1.666          -0.709         0              0              0
  79  Cabinet         2.819          1.768          -1.047         0              0              0
  80  Cabinet         0.620          1.874          -1.259         0              0              0
  81  Cabinet         0.140          1.666          -1.559         0              0              0
  82  Cabinet         -0.189         1.666          -1.340         0              0              0
  83  Cabinet         -0.709         1.963          -0.819         0              0              0
  84  Cabinet         -0.920         1.665          -0.620         0              0              0
  85  Drawer          -0.860         0.190          -0.100         0              0              0
  86  CounterTop      0.133          0.935          -1.457         0              0              0
  87  Drawer          3.020          0.769          0.695          0              180            0
  88  Drawer          -0.677         0.577          -0.700         0              0              0
  89  Drawer          -0.860         0.190          1.429          0              0              0
  90  Drawer          -0.047         0.192          -1.324         0              0              0
  91  Drawer          -0.677         0.193          -0.700         0              0              0
  92  Drawer          -0.860         0.577          -0.100         0              0              0
  93  Sink            3.078          0.887          0.086          0              0              0
  94  StoveBurner     -0.239         0.897          -1.089         0              315            0
  95  Drawer          -0.860         0.190          0.663          0              0              0
  96  CounterTop      1.210          0.937          0.463          0              0              0
  97  Drawer          -0.047         0.381          -1.324         0              0              0
  98  Drawer          -0.677         0.387          -0.700         0              0              0
  99  Mirror          -1.295         1.630          0.045          0              0              0
 100  Drawer          -0.860         0.385          1.429          0              0              0
 101  HousePlant      3.196          0.891          -0.368         0              0              0
 102  StoveKnob       -0.090         0.790          -1.009         270            45             0
 103  StoveKnob       -0.280         0.790          -0.819         270            45             0
 104  StoveKnob       -0.180         0.790          -0.920         270            45             0
 105  StoveKnob       -0.370         0.790          -0.720         270            45             0
 106  GarbageCan      3.137          0.025          1.545          0              225            0
 107  Window          3.703          1.675          0.046          90             90             0
 108  CoffeeMachine   3.214          0.890          0.697          0              270            0
 109  LightSwitch     2.592          1.309          -1.880         0              0              0
 110  SinkBasin       3.069          0.736          0.108          0              90             0
 111  Fridge          1.008          0.029          -1.467         0              0              0
 112  Toaster         -1.035         0.873          -0.396         0              90             0
 113  Microwave       -1.034         0.874          1.428          0              90             0
 114  Faucet          3.305          0.886          0.094          270            180            0
 115  NorthWall
 116  EastWall
 117  SouthWall
 118  WestWall

Plan:
STEP 1: move forward towards the table | STEP 2: pick up the fork | STEP 3: move to the sink ahead | STEP 4: drop the fork in the sink and rinse it | STEP 5: move to the right of the sink | STEP 6: place the fork in the drawer | END