Task: Put a clean fork on a table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          -0.25          0              90             0
   1  Potato          1.688          0.946          1.044          0              0              0              81
   2  Kettle          0.281          0.964          1.082          0              0              0              52
   3  Kettle          0.678          0.964          1.345          0              0              0              84
   4  ButterKnife     1.688          0.911          1.129          0              0              0              81
   5  Pot             0.281          0.964          1.347          0              0              0              61
   6  Pot             1.141          0.915          -0.515         0              0              0              46
   7  Spoon           0.053          0.766          -0.596         0              0              0              103
   8  Spoon           1.276          0.773          -0.460         0              270            0              65
   9  Fork            -0.103         0.912          1.129          0              90             0              57
  10  Spatula         0.251          0.926          -0.316         0              0              0              46
  11  Spatula         -0.887         0.835          -1.473         0              180            0              105
  12  Plate           2.777          1.566          -0.709         0              0              0              101
  13  Cup             -0.734         0.818          -1.473         0              0              0              105
  14  Egg             0.251          0.949          -0.302         0              0              0              46
  15  Knife           -0.103         0.944          1.468          0              0              0              57
  16  SaltShaker      -1.056         0.817          -1.411         0              90             0              105
  17  SaltShaker      1.141          0.908          -0.769         0              0              0              46
  18  PepperShaker    -1.056         0.817          -1.103         0              90             0              105
  19  Bread           2.754          0.969          1.468          0              0              0              81
  20  Lettuce         1.155          0.992          1.299          0              0              0              81
  21  Mug             -0.694         0.815          -1.257         0              90             0              105
  22  Apple           -0.911         0.889          -1.360         0              90             0              105
  23  SoapBottle      -1.962         0.429          1.332          0              270            0              99
  24  Plate           1.955          0.914          1.214          0              0              0              81
  25  Fork            1.925          0.771          1.198          0              270            0              79
  26  Pot             0.634          0.915          -0.430         0              0              0              46
  27  Bread           2.221          0.969          1.129          0              0              0              81
  28  Egg             -2.019         0.461          1.502          0              270            0              99
  29  Kettle          1.139          0.116          1.117          0              0              0              53
  30  Tomato          -0.043         0.942          -0.316         0              0              0              46
  31  Cup             -0.086         0.112          1.077          0              0              0              74
  32  Spatula         2.488          0.926          1.383          0              0              0              81
  33  Apple           2.653          1.357          -0.644         0              0              0              101
  34  Pan             0.637          0.960          1.090          0              0              0              49
  35  Lettuce         -0.198         0.992          1.214          0              0              0              57
  36  SaltShaker      2.754          0.908          1.299          0              0              0              81
  37  Knife           -1.056         0.853          -1.308         0              90             0              105
  38  Potato          2.962          1.053          -0.709         0              0              0              101
  39  PepperShaker    0.937          1.651          -0.849         0              180            0              48
  40  ButterKnife     1.688          0.911          1.383          0              0              0              81
  41  Bowl            0.888          0.909          -0.515         0              0              0              46
  42  DishSponge      -0.887         0.820          -1.255         0              0              0              105
  43  Spoon           -0.157         0.766          -0.707         0              90             0              103
  44  Mug             1.428          0.965          -0.577         0              0              0              46
  45  Sink            0.050          0.902          -0.648         0              0              0
  46  CounterTop      1.358          0.947          -0.600         0              0              0
  47  Cabinet         2.986          2.009          1.304          0              0              0
  48  Cabinet         1.022          2.009          -0.607         0              180            0
  49  StoveBurner     0.678          0.923          1.082          0              0              0
  50  Cabinet         2.371          0.402          0.995          0              0              0
  51  Drawer          -0.125         0.792          0.995          0              0              0
  52  StoveBurner     0.281          0.923          1.082          0              0              0
  53  Cabinet         1.025          0.402          0.995          0              0              0
  54  Cabinet         1.023          0.402          -0.296         0              180            0
  55  Cabinet         0.974          2.259          1.304          0              0              0
  56  Cabinet         0.979          2.009          -0.607         0              180            0
  57  CounterTop      -0.158         0.947          1.299          0              0              0
  58  Cabinet         1.725          2.009          1.304          0              0              0
  59  Drawer          2.205          0.792          -0.294         0              180            0
  60  Drawer          1.869          0.792          -0.294         0              180            0
  61  StoveBurner     0.281          0.923          1.347          0              0              0
  62  Drawer          2.512          0.792          0.995          0              0              0
  63  Cabinet         1.673          0.402          -0.296         0              180            0
  64  Drawer          1.524          0.792          0.995          0              0              0
  65  Drawer          1.174          0.792          -0.294         0              180            0
  66  Cabinet         1.720          0.402          0.995          0              0              0
  67  Cabinet         2.348          2.009          -0.607         0              180            0
  68  Cabinet         1.676          2.009          -0.607         0              180            0
  69  Cabinet         1.673          2.009          1.304          0              0              0
  70  Cabinet         2.326          2.009          1.304          0              0              0
  71  Cabinet         2.370          2.009          1.304          0              0              0
  72  Cabinet         0.021          2.009          1.304          0              0              0
  73  Cabinet         1.025          2.009          1.304          0              0              0
  74  Cabinet         -0.274         0.402          0.995          0              0              0
  75  Cabinet         1.675          0.402          0.995          0              0              0
  76  Drawer          1.524          0.792          -0.294         0              180            0
  77  Drawer          2.187          0.792          0.995          0              0              0
  78  Cabinet         2.977          0.402          0.995          0              0              0
  79  Drawer          1.862          0.792          0.995          0              0              0
  80  Cabinet         0.072          2.259          1.304          0              0              0
  81  CounterTop      1.917          0.947          1.299          0              0              0
  82  Cabinet         2.328          0.402          0.995          0              0              0
  83  Cabinet         1.723          2.009          -0.607         0              180            0
  84  StoveBurner     0.677          0.923          1.345          0              0              0
  85  Cabinet         0.355          2.009          -0.607         0              180            0
  86  Cabinet         0.332          2.009          -0.607         0              180            0
  87  Cabinet         2.349          0.402          -0.296         0              180            0
  88  Cabinet         -0.284         2.009          -0.607         0              180            0
  89  Faucet          0.061          0.906          -0.903         0              0              0
  90  Drawer          2.837          0.792          0.995          0              0              0
  91  Drawer          1.175          0.792          0.995          0              0              0
  92  Cabinet         1.723          0.402          -0.296         0              180            0
  93  StoveKnob       0.588          1.093          1.557          287.970        0              0
  94  StoveKnob       0.188          1.093          1.557          287.970        0              0
  95  StoveKnob       0.749          1.093          1.557          287.970        0              0
  96  StoveKnob       0.338          1.093          1.557          287.970        0              0
  97  Toaster         1.934          0.900          -0.717         0              0              0
  98  LightSwitch     -1.662         1.427          1.649          0              180            0
  99  GarbageCan      -1.965         -0.029         1.358          0              270            0
 100  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 101  Fridge          3.043          0.0            -0.709         0              0              0
 102  Window          -2.183         1.501          -0.014         90             270            0
 103  SinkBasin       0.043          0.755          -0.651         0              0              0
 104  Microwave       0.531          1.675          1.437          0              180            0
 105  DiningTable     -0.836         8.404          -1.258         0              0              0
 106  Chair           -1.611         0.002          -1.185         0              45             0
 107  NorthWall
 108  EastWall
 109  SouthWall
 110  WestWall

Plan:
STEP 1: Go left to stand in front of the counter to the left of the stove. | STEP 2: Pick the fork up from the counter. | STEP 3: Turn around and face the sink. | STEP 4: Put the fork in the sink and turn the water on and then off and pick the fork up from the sink. | STEP 5: Turn to the right and then to the left to face the round table. | STEP 6: Put the fork down on the table. | END