Task: stand a clean fork up on the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          0.75           0              0              0
   1  Potato          1.422          0.946          1.468          0              0              0              79
   2  Potato          -0.017         0.800          -0.651         0              0              0              101
   3  DishSponge      -0.159         0.771          1.122          0              0              0              49
   4  Kettle          0.678          0.964          1.345          0              0              0              82
   5  ButterKnife     2.156          0.911          -0.345         0              0              0              44
   6  Pot             2.838          1.567          -0.578         0              0              0              99
   7  Spoon           -0.734         0.822          -1.328         0              0              0              103
   8  Spoon           -0.157         0.766          -0.707         0              90             0              101
   9  Fork            1.141          0.912          -0.430         0              0              0              44
  10  Plate           2.524          1.658          1.468          0              0              0              69
  11  Egg             2.754          0.949          1.383          0              0              0              79
  12  Knife           0.634          0.944          -0.6           0              0              0              44
  13  Knife           -0.055         0.944          1.299          0              90             0              55
  14  SoapBottle      -0.072         1.660          -0.772         0              180            0              86
  15  Bowl            2.777          1.017          -0.644         0              0              0              99
  16  Bowl            2.488          0.909          1.129          0              0              0              79
  17  PepperShaker    2.802          0.110          1.081          0              0              0              76
  18  Bread           1.688          0.969          1.468          0              0              0              79
  19  Lettuce         1.955          0.992          1.299          0              0              0              79
  20  Lettuce         -0.151         0.992          1.383          0              0              0              55
  21  SoapBottle      -0.983         0.826          -1.257         0              90             0              103
  22  Plate           2.221          0.914          1.383          0              0              0              79
  23  Fork            -0.694         0.821          -1.206         0              90             0              103
  24  Pot             0.281          0.964          1.082          0              0              0              50
  25  Bread           -0.151         0.969          1.129          0              0              0              55
  26  Egg             -2.048         0.461          1.332          0              270            0              97
  27  Kettle          1.484          1.656          -0.810         0              180            0              66
  28  Tomato          2.962          0.758          -0.442         0              0              0              99
  29  Cup             2.838          1.016          -0.840         0              0              0              99
  30  Spatula         -0.887         0.835          -1.255         0              90             0              103
  31  Apple           0.193          0.834          -0.707         0              0              0              101
  32  Pan             0.637          0.960          1.090          0              0              0              47
  33  Lettuce         -0.836         0.901          -1.400         0              0              0              103
  34  SaltShaker      1.422          0.908          1.129          0              0              0              79
  35  Knife           1.422          0.944          1.299          0              0              0              79
  36  Potato          0.053          0.800          -0.762         0              0              0              101
  37  PepperShaker    -0.682         0.817          -1.400         0              0              0              103
  38  ButterKnife     -0.246         0.911          1.214          0              90             0              55
  39  Bowl            0.415          1.782          1.455          0              180            0              102
  40  DishSponge      -1.962         0.423          1.417          0              270            0              97
  41  Spoon           -0.983         0.822          -1.360         0              90             0              103
  42  Mug             2.715          0.721          -0.473         0              0              0              99
  43  Sink            0.050          0.902          -0.648         0              0              0
  44  CounterTop      1.358          0.947          -0.600         0              0              0
  45  Cabinet         2.986          2.009          1.304          0              0              0
  46  Cabinet         1.022          2.009          -0.607         0              180            0
  47  StoveBurner     0.678          0.923          1.082          0              0              0
  48  Cabinet         2.371          0.402          0.995          0              0              0
  49  Drawer          -0.125         0.792          0.995          0              0              0
  50  StoveBurner     0.281          0.923          1.082          0              0              0
  51  Cabinet         1.025          0.402          0.995          0              0              0
  52  Cabinet         1.023          0.402          -0.296         0              180            0
  53  Cabinet         0.974          2.259          1.304          0              0              0
  54  Cabinet         0.979          2.009          -0.607         0              180            0
  55  CounterTop      -0.158         0.947          1.299          0              0              0
  56  Cabinet         1.725          2.009          1.304          0              0              0
  57  Drawer          2.205          0.792          -0.294         0              180            0
  58  Drawer          1.869          0.792          -0.294         0              180            0
  59  StoveBurner     0.281          0.923          1.347          0              0              0
  60  Drawer          2.512          0.792          0.995          0              0              0
  61  Cabinet         1.673          0.402          -0.296         0              180            0
  62  Drawer          1.524          0.792          0.995          0              0              0
  63  Drawer          1.174          0.792          -0.294         0              180            0
  64  Cabinet         1.720          0.402          0.995          0              0              0
  65  Cabinet         2.348          2.009          -0.607         0              180            0
  66  Cabinet         1.676          2.009          -0.607         0              180            0
  67  Cabinet         1.673          2.009          1.304          0              0              0
  68  Cabinet         2.326          2.009          1.304          0              0              0
  69  Cabinet         2.370          2.009          1.304          0              0              0
  70  Cabinet         0.021          2.009          1.304          0              0              0
  71  Cabinet         1.025          2.009          1.304          0              0              0
  72  Cabinet         -0.274         0.402          0.995          0              0              0
  73  Cabinet         1.675          0.402          0.995          0              0              0
  74  Drawer          1.524          0.792          -0.294         0              180            0
  75  Drawer          2.187          0.792          0.995          0              0              0
  76  Cabinet         2.977          0.402          0.995          0              0              0
  77  Drawer          1.862          0.792          0.995          0              0              0
  78  Cabinet         0.072          2.259          1.304          0              0              0
  79  CounterTop      1.917          0.947          1.299          0              0              0
  80  Cabinet         2.328          0.402          0.995          0              0              0
  81  Cabinet         1.723          2.009          -0.607         0              180            0
  82  StoveBurner     0.677          0.923          1.345          0              0              0
  83  Cabinet         0.355          2.009          -0.607         0              180            0
  84  Cabinet         0.332          2.009          -0.607         0              180            0
  85  Cabinet         2.349          0.402          -0.296         0              180            0
  86  Cabinet         -0.284         2.009          -0.607         0              180            0
  87  Faucet          0.061          0.906          -0.903         0              0              0
  88  Drawer          2.837          0.792          0.995          0              0              0
  89  Drawer          1.175          0.792          0.995          0              0              0
  90  Cabinet         1.723          0.402          -0.296         0              180            0
  91  StoveKnob       0.588          1.093          1.557          287.970        0              0
  92  StoveKnob       0.188          1.093          1.557          287.970        0              0
  93  StoveKnob       0.749          1.093          1.557          287.970        0              0
  94  StoveKnob       0.338          1.093          1.557          287.970        0              0
  95  Toaster         1.934          0.900          -0.717         0              0              0
  96  LightSwitch     -1.662         1.427          1.649          0              180            0
  97  GarbageCan      -1.965         -0.029         1.358          0              270            0
  98  CoffeeMachine   1.542          0.900          -0.751         0              0              0
  99  Fridge          3.043          0.0            -0.709         0              0              0
 100  Window          -2.183         1.501          -0.014         90             270            0
 101  SinkBasin       0.043          0.755          -0.651         0              0              0
 102  Microwave       0.531          1.675          1.437          0              180            0
 103  DiningTable     -0.836         8.404          -1.258         0              0              0
 104  Chair           -1.611         0.002          -1.185         0              45             0
 105  NorthWall
 106  EastWall
 107  SouthWall
 108  WestWall

Plan:
STEP 1: go to the round dining table in the corner | STEP 2: pick up the fork from the table | STEP 3: take the fork to the sink | STEP 4: rinse the fork in the sink with the existing veggies | STEP 5: take the cleaned fork back to the table | STEP 6: stand the fork on the table | END