Task: Putting a clean fork on the round table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          0.25           0              180            0
   1  DishSponge      2.868          0.771          1.236          0              0              0              92
   2  DishSponge      -0.201         1.654          1.546          0              0              0              74
   3  Kettle          0.678          0.964          1.345          0              0              0              86
   4  Spoon           -0.017         0.766          -0.596         0              0              0              105
   5  Spoon           2.543          0.773          1.122          0              0              0              64
   6  Fork            1.955          0.912          1.129          0              0              0              83
   7  Fork            -0.734         0.821          -1.400         0              90             0              107
   8  Spatula         -0.157         0.780          -0.596         0              270            0              105
   9  Spatula         -0.983         0.835          -1.360         0              180            0              107
  10  Plate           0.231          2.159          1.467          0              0              0              82
  11  Cup             2.838          1.016          -0.578         0              0              0              103
  12  Egg             -0.983         0.858          -1.155         0              90             0              107
  13  Knife           0.193          0.798          -0.651         0              0              0              105
  14  SoapBottle      0.888          0.917          -0.345         0              0              0              48
  15  Tomato          -0.990         0.852          -1.255         0              0              0              107
  16  Tomato          1.955          0.942          1.553          0              0              0              83
  17  Bowl            2.900          1.286          -0.775         0              0              0              103
  18  Bowl            1.917          1.653          1.429          0              0              0              60
  19  PepperShaker    1.955          0.908          1.468          0              0              0              83
  20  PepperShaker    -0.887         0.817          -1.255         0              0              0              107
  21  Bread           2.754          0.969          1.214          0              0              0              83
  22  Lettuce         -0.151         0.992          1.129          0              0              0              59
  23  Lettuce         0.634          0.992          -0.430         0              0              0              48
  24  Mug             2.188          0.109          1.156          0              0              0              84
  25  SoapBottle      -0.151         0.917          1.383          0              0              0              59
  26  Plate           1.688          0.914          1.383          0              0              0              83
  27  Fork            1.456          0.771          1.122          0              90             0              66
  28  Pot             0.297          0.960          1.346          0              0              0              63
  29  Bread           1.03           0.953          -0.519         0              0              0              48
  30  Egg             1.422          0.949          1.383          0              0              0              83
  31  Kettle          0.281          0.964          1.082          0              0              0              54
  32  Tomato          -2.019         0.455          1.459          0              270            0              101
  33  Cup             2.562          1.653          1.546          0              0              0              73
  34  Spatula         -0.007         0.926          1.044          0              90             0              59
  35  Apple           2.715          1.632          -0.775         0              0              0              103
  36  Pan             0.637          0.960          1.090          0              0              0              51
  37  Lettuce         1.155          0.992          1.468          0              0              0              83
  38  SaltShaker      0.634          0.908          -0.769         0              0              0              48
  39  Knife           -0.055         0.944          1.129          0              90             0              59
  40  Potato          2.838          0.761          -0.473         0              0              0              103
  41  PepperShaker    -0.939         0.817          -1.473         0              0              0              107
  42  ButterKnife     -0.017         0.765          -0.707         0              270            0              105
  43  Bowl            2.221          0.909          1.299          0              0              0              83
  44  DishSponge      0.193          0.765          -0.596         0              0              0              105
  45  Spoon           -0.682         0.822          -1.400         0              90             0              107
  46  Mug             2.715          1.014          -0.644         0              0              0              103
  47  Sink            0.050          0.902          -0.648         0              0              0
  48  CounterTop      1.358          0.947          -0.600         0              0              0
  49  Cabinet         2.986          2.009          1.304          0              0              0
  50  Cabinet         1.022          2.009          -0.607         0              180            0
  51  StoveBurner     0.678          0.923          1.082          0              0              0
  52  Cabinet         2.371          0.402          0.995          0              0              0
  53  Drawer          -0.125         0.792          0.995          0              0              0
  54  StoveBurner     0.281          0.923          1.082          0              0              0
  55  Cabinet         1.025          0.402          0.995          0              0              0
  56  Cabinet         1.023          0.402          -0.296         0              180            0
  57  Cabinet         0.974          2.259          1.304          0              0              0
  58  Cabinet         0.979          2.009          -0.607         0              180            0
  59  CounterTop      -0.158         0.947          1.299          0              0              0
  60  Cabinet         1.725          2.009          1.304          0              0              0
  61  Drawer          2.205          0.792          -0.294         0              180            0
  62  Drawer          1.869          0.792          -0.294         0              180            0
  63  StoveBurner     0.281          0.923          1.347          0              0              0
  64  Drawer          2.512          0.792          0.995          0              0              0
  65  Cabinet         1.673          0.402          -0.296         0              180            0
  66  Drawer          1.524          0.792          0.995          0              0              0
  67  Drawer          1.174          0.792          -0.294         0              180            0
  68  Cabinet         1.720          0.402          0.995          0              0              0
  69  Cabinet         2.348          2.009          -0.607         0              180            0
  70  Cabinet         1.676          2.009          -0.607         0              180            0
  71  Cabinet         1.673          2.009          1.304          0              0              0
  72  Cabinet         2.326          2.009          1.304          0              0              0
  73  Cabinet         2.370          2.009          1.304          0              0              0
  74  Cabinet         0.021          2.009          1.304          0              0              0
  75  Cabinet         1.025          2.009          1.304          0              0              0
  76  Cabinet         -0.274         0.402          0.995          0              0              0
  77  Cabinet         1.675          0.402          0.995          0              0              0
  78  Drawer          1.524          0.792          -0.294         0              180            0
  79  Drawer          2.187          0.792          0.995          0              0              0
  80  Cabinet         2.977          0.402          0.995          0              0              0
  81  Drawer          1.862          0.792          0.995          0              0              0
  82  Cabinet         0.072          2.259          1.304          0              0              0
  83  CounterTop      1.917          0.947          1.299          0              0              0
  84  Cabinet         2.328          0.402          0.995          0              0              0
  85  Cabinet         1.723          2.009          -0.607         0              180            0
  86  StoveBurner     0.677          0.923          1.345          0              0              0
  87  Cabinet         0.355          2.009          -0.607         0              180            0
  88  Cabinet         0.332          2.009          -0.607         0              180            0
  89  Cabinet         2.349          0.402          -0.296         0              180            0
  90  Cabinet         -0.284         2.009          -0.607         0              180            0
  91  Faucet          0.061          0.906          -0.903         0              0              0
  92  Drawer          2.837          0.792          0.995          0              0              0
  93  Drawer          1.175          0.792          0.995          0              0              0
  94  Cabinet         1.723          0.402          -0.296         0              180            0
  95  StoveKnob       0.588          1.093          1.557          287.970        0              0
  96  StoveKnob       0.188          1.093          1.557          287.970        0              0
  97  StoveKnob       0.749          1.093          1.557          287.970        0              0
  98  StoveKnob       0.338          1.093          1.557          287.970        0              0
  99  Toaster         1.934          0.900          -0.717         0              0              0
 100  LightSwitch     -1.662         1.427          1.649          0              180            0
 101  GarbageCan      -1.965         -0.029         1.358          0              270            0
 102  CoffeeMachine   1.542          0.900          -0.751         0              0              0
 103  Fridge          3.043          0.0            -0.709         0              0              0
 104  Window          -2.183         1.501          -0.014         90             270            0
 105  SinkBasin       0.043          0.755          -0.651         0              0              0
 106  Microwave       0.531          1.675          1.437          0              180            0
 107  DiningTable     -0.836         8.404          -1.258         0              0              0
 108  Chair           -1.611         0.002          -1.185         0              45             0
 109  NorthWall
 110  EastWall
 111  SouthWall
 112  WestWall

Plan:
STEP 1: Go to the round table | STEP 2: Grab the fork off of the table | STEP 3: Turn around and go to the sink | STEP 4: Wash the fork in the sink and then take it out | STEP 5: Turn right and go to the round table | STEP 6: Put the fork on the table | END