Task: Wash a fork and place inside kitchen drawer.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.75          0.900          -1.0           0              180            0
   1  Pan             -1.081         0.949          -1.527         0              0              0              75
   2  Pen             -1.886         0.913          -1.620         0              0              0              79
   3  Potato          -1.712         0.952          0.032          0              0              0              76
   4  Potato          1.441          1.307          0.188          0              270            0              96
   5  Ladle           0.649          0.161          -1.585         0              90             0              68
   6  ButterKnife     1.414          1.162          -1.345         0              0              0              80
   7  ButterKnife     1.343          0.911          0.031          0              0              0              74
   8  DishSponge      1.090          0.114          -0.773         0              0              0              58
   9  Glassbottle     0.973          0.115          -0.699         0              0              0              58
  10  Glassbottle     -0.748         1.656          -1.764         0              0              0              56
  11  Spoon           0.903          0.776          0.323          0              90             0              51
  12  Spoon           -1.809         0.911          -1.879         0              0              0              72
  13  Spatula         -1.957         0.925          0.377          0              90             0              76
  14  Spatula         1.335          1.177          -1.345         0              90             0              80
  15  Pot             -1.431         0.949          -1.525         0              0              0              82
  16  Plate           1.150          0.115          -1.071         0              0              0              59
  17  Knife           -2.201         0.940          0.118          0              0              0              76
  18  Knife           0.949          0.804          -1.178         0              90             0              52
  19  SoapBottle      -1.396         1.858          -1.838         0              0              0              67
  20  SoapBottle      1.381          0.214          1.051          0              0              0              91
  21  Bowl            -2.079         0.911          0.463          0              0              0              76
  22  Bowl            1.426          1.368          1.976          0              270            0              93
  23  PepperShaker    1.494          1.157          -1.345         0              0              0              80
  24  PepperShaker    -1.886         0.905          -1.879         0              0              0              72
  25  Tomato          1.323          1.760          1.650          0              270            0              93
  26  Glassbottle     1.414          1.162          -0.659         0              0              0              80
  27  Knife           -0.401         0.941          -1.789         0              0              0              74
  28  Plate           1.342          1.656          -0.736         0              0              0              62
  29  Fork            -1.712         0.911          0.463          0              0              0              76
  30  Ladle           -1.886         0.954          -1.448         0              0              0              72
  31  Potato          1.375          1.203          0.370          0              90             0              80
  32  Lettuce         -2.323         0.979          0.377          0              0              0              76
  33  Kettle          -1.431         0.949          -1.81          0              0              0              84
  34  Pen             -0.401         0.913          -1.448         0              0              0              74
  35  SaltShaker      -0.174         0.906          -1.436         0              0              0              74
  36  Cup             -0.342         0.117          -1.586         0              0              0              60
  37  Egg             1.275          1.396          2.101          0              270            0              93
  38  Spatula         1.296          1.177          -1.688         0              90             0              80
  39  Bowl            -1.039         1.851          -1.802         0              0              0              54
  40  SprayBottle     -0.406         0.116          -1.683         0              90             0              60
  41  Pan             1.376          1.367          2.226          0              270            0              93
  42  SoapBottle      0.183          0.919          -1.708         0              270            0              53
  43  Pot             -1.081         0.949          -1.81          0              0              0              70
  44  ButterKnife     1.176          0.911          0.372          0              0              0              74
  45  PepperShaker    1.342          1.651          -1.342         0              0              0              66
  46  DishSponge      -1.835         0.910          0.204          0              0              0              76
  47  Bread           1.375          1.240          -1.002         0              0              0              80
  48  Apple           1.476          1.402          1.725          0              270            0              93
  49  Spoon           -1.712         0.911          0.291          0              0              0              76
  50  Mug             0.285          0.914          -1.808         0              270            0              53
  51  Drawer          0.860          0.75           0.430          0              0              0
  52  Drawer          0.871          0.75           -1.134         0              0              0
  53  Sink            0.156          0.817          -1.801         0              270            0
  54  Cabinet         -0.868         2.005          -1.690         0              0              0
  55  Cabinet         -1.661         2.059          -1.684         0              90             0
  56  Cabinet         -0.817         2.059          -1.689         0              0              0
  57  Cabinet         0.860          0.402          0.665          0              0              0
  58  Cabinet         0.860          0.402          -0.552         0              0              0
  59  Cabinet         0.860          0.402          -1.365         0              0              0
  60  Cabinet         -0.244         0.402          -1.389         0              0              0
  61  Cabinet         -0.815         0.402          -1.389         0              0              0
  62  Cabinet         1.159          2.059          -0.334         0              0              0
  63  Cabinet         0.488          2.059          -1.689         0              0              0
  64  Cabinet         -0.193         2.059          -1.689         0              0              0
  65  Drawer          0.860          0.75           -0.699         0              0              0
  66  Cabinet         1.159          2.059          -1.019         0              0              0
  67  Cabinet         -1.611         2.005          -1.690         0              0              0
  68  Cabinet         0.832          0.401          -1.393         0              90             0
  69  Drawer          -2.105         0.75           -1.389         0              0              0
  70  StoveBurner     -1.081         0.941          -1.809         0              0              0
  71  Cabinet         -0.202         0.401          -1.391         0              90             0
  72  CounterTop      -1.973         0.945          -1.707         0              0              0
  73  Drawer          -0.375         0.75           -1.389         0              0              0
  74  CounterTop      1.164          0.946          -0.649         0              0              0
  75  StoveBurner     -1.081         0.941          -1.527         0              0              0
  76  CounterTop      -2.096         0.945          0.291          0              0              0
  77  Cabinet         -2.237         0.402          -1.389         0              0              0
  78  Drawer          0.584          0.75           -1.389         0              0              0
  79  Drawer          -1.795         0.75           -1.389         0              0              0
  80  CounterTop      1.5            1.197          -0.654         0              0              0
  81  Cabinet         -1.667         0.402          -1.389         0              0              0
  82  StoveBurner     -1.430         0.941          -1.525         0              0              0
  83  Drawer          -0.685         0.75           -1.389         0              0              0
  84  StoveBurner     -1.430         0.941          -1.809         0              0              0
  85  LightSwitch     -2.539         1.289          2.568          0              90             0
  86  StoveKnob       -1.362         1.095          -1.983         287.970        180            0
  87  StoveKnob       -0.962         1.095          -1.983         287.970        180            0
  88  StoveKnob       -1.522         1.095          -1.983         287.970        180            0
  89  StoveKnob       -1.112         1.095          -1.983         287.970        180            0
  90  CoffeeMachine   1.082          0.900          -1.848         0              0              0
  91  GarbageCan      1.343          0.015          1.041          0              0              0
  92  HousePlant      1.440          1.153          0.593          0              0              0
  93  Fridge          1.417          0.0            2.101          0              0              0
  94  Window          -0.486         1.452          3.302          90             0              0
  95  SinkBasin       -0.063         0.765          -1.713         0              270            0
  96  Microwave       1.422          1.150          0.022          0              270            0
  97  Toaster         -2.066         0.900          -1.848         0              0              0
  98  Stool           -1.994         0.010          0.882          0              0              0
  99  Faucet          -0.096         1.041          -1.867         0              270            0
 100  NorthWall
 101  EastWall
 102  SouthWall
 103  WestWall

Plan:
STEP 1: Turn left, walk towards the stove and turn left. Go forward to reach the counter on the left. | STEP 2: Pick up the form on the right side of the counter. | STEP 3: Turn around and walk forward, then turn right to go to the kitchen sink. | STEP 4: Place the fork in the sink and turn on the water for a few seconds, then turn off the water. | STEP 5: Pick up the fork from the sink. | STEP 6: Turn left and open the second drawer on the right, place the fork in and close it. | END