Task: put 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           1.0            0.900          -1.0           0              180            0
   1  Potato          1.167          0.942          -1.406         0              0              0              50
   2  Potato          -0.872         1.045          -1.704         0              0              0              72
   3  DishSponge      -0.719         1.328          -1.846         0              180            0              44
   4  DishSponge      -2.203         0.951          0.524          0              90             0              83
   5  ButterKnife     1.658          0.912          -1.406         0              0              0              50
   6  Pot             1.361          0.962          0.561          0              270            0              55
   7  Fork            -1.928         0.952          0.614          0              90             0              83
   8  Spoon           -0.971         0.774          -1.472         0              270            0              63
   9  Cup             -2.203         0.950          0.345          0              90             0              83
  10  Cup             1.830          0.106          0.274          0              0              0              58
  11  Plate           1.724          0.913          0.623          0              0              0              65
  12  Plate           1.785          0.913          0.375          0              0              0              65
  13  Knife           0.701          0.944          -1.649         0              270            0              48
  14  SoapBottle      0.564          0.910          0.292          0              0              0              49
  15  Tomato          -0.175         0.961          -1.820         0              0              0              50
  16  Tomato          -0.329         0.119          0.439          0              90             0              79
  17  Bowl            1.535          0.911          -1.654         0              0              0              50
  18  PepperShaker    1.901          1.325          -1.883         0              180            0              66
  19  PepperShaker    -0.644         1.325          -1.736         0              180            0              44
  20  Mug             -0.975         1.010          -1.671         0              0              0              72
  21  Bread           -2.477         1.035          0.165          0              90             0              83
  22  Knife           -1.791         0.977          0.345          0              90             0              83
  23  Fork            -0.082         0.912          -1.406         0              0              0              50
  24  Bowl            -2.135         1.051          -1.806         0              0              0              80
  25  Kettle          -0.096         0.111          -1.508         0              0              0              59
  26  Cup             -2.135         0.779          -1.720         0              0              0              80
  27  Tomato          -0.362         0.119          0.612          0              90             0              79
  28  SoapBottle      0.300          0.910          0.209          0              0              0              49
  29  Plate           1.781          0.913          -1.737         0              0              0              50
  30  Pot             1.007          0.962          0.561          0              270            0              52
  31  Spatula         -2.477         0.967          0.435          0              180            0              83
  32  PaperTowelRoll  -2.340         1.056          0.614          0              90             0              83
  33  Egg             -2.397         0.546          -1.634         0              0              0              80
  34  Lettuce         0.851          1.001          -1.537         0              231.490        0              48
  35  SaltShaker      0.455          0.104          -1.509         0              180            0              47
  36  PepperShaker    -1.928         0.948          0.435          0              90             0              83
  37  Apple           -1.079         1.082          -1.770         0              0              0              72
  38  ButterKnife     -2.614         0.952          0.345          0              270            0              83
  39  Potato          -2.222         0.541          -1.849         0              0              0              80
  40  Pan             1.022          0.959          0.288          0              219.190        0              62
  41  DishSponge      -2.065         0.951          0.614          0              90             0              83
  42  Spoon           -0.104         0.773          -1.538         0              90             0              53
  43  Mug             1.830          0.103          0.385          0              0              0              58
  44  Cabinet         -0.193         1.688          -1.648         0              180            0
  45  StoveBurner     1.360          0.957          0.293          0              180            0
  46  Drawer          0.499          0.792          0.296          0              0              0
  47  Cabinet         0.095          0.400          -1.352         0              180            0
  48  Sink            0.711          0.817          -1.772         0              270            0
  49  CounterTop      0.280          0.947          0.458          0              0              0
  50  CounterTop      -0.680         0.947          -1.654         0              0              0
  51  Drawer          1.825          0.792          0.296          0              0              0
  52  StoveBurner     1.007          0.957          0.561          0              270            0
  53  Drawer          -0.150         0.792          -1.496         0              0              0
  54  Drawer          -0.586         0.792          -1.496         0              0              0
  55  StoveBurner     1.360          0.957          0.561          0              270            0
  56  Drawer          0.024          0.792          0.296          0              0              0
  57  Cabinet         1.079          0.400          -1.349         0              180            0
  58  Cabinet         1.669          0.402          0.151          0              0              0
  59  Cabinet         0.055          0.402          -1.351         0              0              0
  60  Cabinet         -0.180         0.402          0.151          0              0              0
  61  Cabinet         0.729          0.402          0.151          0              0              0
  62  StoveBurner     1.007          0.957          0.293          0              180            0
  63  Drawer          -1.100         0.792          -1.496         0              0              0
  64  Cabinet         -0.396         0.402          -1.351         0              0              0
  65  CounterTop      1.776          0.947          0.458          0              0              0
  66  Cabinet         1.974          1.688          -1.648         0              180            0
  67  Cabinet         -0.820         0.400          -1.349         0              180            0
  68  Toaster         0.305          0.900          0.552          0              180            0
  69  LightSwitch     -2.756         1.307          -0.987         0              90             0
  70  Window          0.582          1.613          -1.967         90             0              0
  71  Window          1.969          1.5            -0.615         90             270            0
  72  Microwave       -1.037         0.900          -1.723         0              0              0
  73  SinkBasin       0.377          0.765          -1.655         0              270            0
  74  CoffeeMachine   0.618          0.900          0.600          0              180            0
  75  StoveKnob       1.246          0.913          0.118          45             180            0
  76  StoveKnob       1.373          0.913          0.118          45             180            0
  77  StoveKnob       0.995          0.913          0.118          45             180            0
  78  StoveKnob       1.126          0.913          0.118          45             180            0
  79  GarbageCan      -0.368         -0.029         0.539          0              90             0
  80  Fridge          -2.134         0.0            -1.690         0              0              0
  81  Faucet          0.549          1.046          -1.833         0              232.527        0
  82  Stool           -1.475         0.000          0.414          1.233          280.375        0
  83  DiningTable     -2.255         -0.004         0.432          0              0              0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: turn to the right, walk past the sink, stop and face the counter on the right of the sink | STEP 2: pick up the fork that is on the counter | STEP 3: turn left, walk to the sink, face the sink | STEP 4: put the fork in the sink, rinse the fork, take the fork out of the sink | STEP 5: turn around, walk to the counter behind you | STEP 6: put the fork in the drawer on the left | END