Task: Place 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          2.25           0              0              0
   1  Potato          -2.744         0.960          1.125          0              0              0              57
   2  Potato          -0.395         0.095          2.539          0              0              0              58
   3  ButterKnife     -1.151         0.813          0.203          0              0              0              38
   4  Spoon           -2.491         0.824          0.278          0              0              0              38
   5  Egg             -0.329         0.080          2.708          0              0              0              58
   6  Plate           -2.781         1.148          2.133          0              90             0              56
   7  Plate           -2.840         0.828          0.129          0              0              0              38
   8  Apple           -2.837         1.518          2.045          0              90             0              56
   9  Apple           -0.262         0.129          2.539          0              0              0              58
  10  Apple           -2.844         0.994          1.231          0              90             0              57
  11  Fork            -2.735         0.824          0.871          0              0              0              38
  12  Ladle           -0.371         0.738          0.879          0              45             0              40
  13  Pan             -0.244         0.829          1.684          0              0              0              37
  14  SoapBottle      -1.350         0.123          0.323          0              0              0              51
  15  Pot             -0.531         0.822          2.096          0              0              0              35
  16  Tomato          -0.314         0.873          0.500          0              0              0              38
  17  Potato          -0.400         0.862          1.326          0              0              0              38
  18  SaltShaker      -2.358         1.431          0.059          0              0              0              45
  19  Plate           -2.781         0.829          2.133          0              90             0              56
  20  Spatula         -2.608         0.838          0.203          0              0              0              38
  21  Knife           -2.662         0.819          0.557          90             300.034        0              38
  22  Egg             -2.504         0.847          0.707          0              0              0              38
  23  Cup             -2.837         0.825          1.957          0              90             0              56
  24  ButterKnife     -2.493         0.812          0.476          0              50.734         0              38
  25  Lettuce         -2.837         1.529          2.397          0              90             0              56
  26  PepperShaker    -0.400         0.818          0.992          0              0              0              38
  27  DishSponge      -2.581         0.823          0.871          0              0              0              38
  28  Bread           -0.980         0.855          0.248          0              30.055         0              38
  29  Spoon           -1.22          0.812          0.309          0              67.516         0              38
  30  Mug             -0.646         0.888          0.367          0              0              0              66
  31  Bowl            -2.752         1.431          0.260          0              45             0              44
  32  Cabinet         -2.377         2.015          1.720          0              0              0
  33  StoveBurner     -0.244         0.820          2.075          0              180            0
  34  Drawer          -0.402         0.703          1.252          0              0              0
  35  StoveBurner     -0.518         0.820          2.075          0              180            0
  36  Sink            -1.838         0.726          0.343          0              180            0
  37  StoveBurner     -0.244         0.820          1.684          0              0              0
  38  CounterTop      -1.557         0.859          0.277          0              0              0
  39  StoveBurner     -0.518         0.820          1.684          0              0              0
  40  Drawer          -0.404         0.704          0.912          0              0              0
  41  Drawer          -0.861         0.709          0.420          0              0              0
  42  Drawer          -1.133         0.706          0.418          0              0              0
  43  Drawer          -2.589         0.703          1.511          0              0              0
  44  Cabinet         -2.772         1.803          0.508          0              0              0
  45  Cabinet         -2.460         1.803          0.231          0              0              0
  46  Cabinet         -2.781         1.798          0.825          0              0              0
  47  Cabinet         -2.781         1.798          0.815          0              0              0
  48  Cabinet         -2.377         2.009          2.581          0              0              0
  49  Cabinet         -2.442         0.385          1.672          0              0              0
  50  Cabinet         -2.238         0.385          0.564          0              0              0
  51  Cabinet         -1.286         0.385          0.564          0              0              0
  52  Cabinet         -1.262         0.385          0.565          0              0              0
  53  Cabinet         -0.734         0.385          0.565          0              0              0
  54  Cabinet         -0.549         0.385          0.751          0              0              0
  55  Cabinet         -0.549         0.385          1.412          0              0              0
  56  Fridge          -2.782         0.0            2.221          0              0              0
  57  Microwave       -2.794         0.812          1.348          0              90             0
  58  GarbageCan      -0.329         2.205          2.606          0              0              0
  59  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  60  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  61  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  62  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  63  Window          -1.720         1.342          -0.208         90             0              0
  64  Toaster         -0.171         0.812          0.735          0              270            0
  65  SinkBasin       -1.745         0.687          0.295          0              0              0
  66  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  67  LightSwitch     -0.615         1.378          3.0            0              180            0
  68  Faucet          -1.686         0.954          0.176          0              236.223        0
  69  Stool           -1.008         0.008          1.955          0              18.279         0
  70  NorthWall
  71  EastWall
  72  SouthWall
  73  WestWall

Plan:
STEP 1: Turn around and walk to the counter with the microwave on the right. | STEP 2: Pick up the fork behind the green sponge on the counter. | STEP 3: Turn around and walk to the sink on the right. | STEP 4: Put the fork inside the left side of the sink, rinse it for a few seconds and pick it back up. | STEP 5: Turn left to face the drawers to the right of the stove. | STEP 6: Open the left drawer next to the stove, put the rinsed fork inside and close the drawer. | END