Task: Place a clean fork on table by microwave

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           1.124          -0.5           0              90             0
   1  Pan             -1.750         0.343          1.523          0              0              0              48
   2  DishSponge      -1.094         1.322          -2.981         0              0              0              47
   3  DishSponge      0.856          0.953          0.711          0              0              0              69
   4  Fork            -1.920         1.323          0.770          0              0              0              47
   5  Fork            1.027          1.208          1.206          0              0              0              72
   6  Fork            -1.920         1.323          -1.681         0              0              0              47
   7  Spoon           0.896          1.324          -2.794         0              0              0              47
   8  Spatula         -2.049         1.337          0.445          0              0              0              47
   9  Pot             -1.660         1.329          -1.941         0              0              0              47
  10  Egg             -1.610         0.321          2.316          0              270            0              62
  11  Egg             1.246          1.351          1.016          0              270            0              72
  12  Cup             -1.165         1.320          -3.092         0              0              0              47
  13  Cup             -1.920         1.320          1.744          0              0              0              47
  14  Tomato          -1.380         1.356          -3.425         0              0              0              47
  15  Bowl            -2.049         1.321          1.094          0              0              0              47
  16  PepperShaker    0.778          1.202          1.238          0              0              0              72
  17  PepperShaker    -1.817         0.338          0.713          0              0              0              45
  18  Apple           1.213          1.359          0.861          0              270            0              72
  19  Bread           -1.513         1.380          0.662          0              0              0              47
  20  Pot             -0.125         1.332          -2.973         0              0              0              55
  21  Knife           0.636          1.352          -2.794         0              0              0              47
  22  Bowl            -1.602         0.342          -2.362         0              0              0              43
  23  Potato          1.095          1.796          2.112          0              270            0              60
  24  SoapBottle      -1.634         0.280          2.193          0              270            0              62
  25  Fork            0.636          1.323          -3.164         0              0              0              47
  26  Cup             -1.817         0.341          0.311          0              0              0              45
  27  Kettle          -2.049         1.324          -2.981         0              0              0              47
  28  Egg             -1.586         0.321          2.069          0              270            0              62
  29  Pan             -0.749         1.332          -2.973         0              0              0              50
  30  SaltShaker      -2.179         1.318          -2.721         0              0              0              47
  31  WineBottle      -1.952         0.344          0.613          0              0              0              45
  32  Lettuce         -1.920         1.399          -2.201         0              0              0              47
  33  Spatula         -1.730         0.435          -1.283         0              90             0              53
  34  PaperTowelRoll  -1.530         1.427          1.744          0              0              0              47
  35  Tomato          0.908          1.980          1.494          0              270            0              60
  36  Plate           -1.660         1.323          2.069          0              0              0              47
  37  PepperShaker    1.193          1.202          1.222          0              0              0              72
  38  DishSponge      -1.522         1.322          -2.760         0              0              0              47
  39  Spoon           -1.645         0.423          -1.348         0              0              0              53
  40  Apple           0.938          1.806          2.348          0              270            0              60
  41  Mug             0.970          1.519          1.724          0              270            0              60
  42  StoveBurner     -0.239         1.325          -3.301         0              180            0
  43  Cabinet         -1.461         0.775          -2.002         0              0              0
  44  StoveBurner     -0.630         1.325          -3.301         0              180            0
  45  Cabinet         -1.461         0.775          0.470          0              0              0
  46  Cabinet         0.578          0.776          -2.054         0              0              0
  47  CounterTop      -1.809         1.358          1.182          0              0              0
  48  Cabinet         -1.461         0.775          1.310          0              0              0
  49  Faucet          -2.063         1.362          -0.726         0              39.391         0
  50  StoveBurner     -0.749         1.325          -2.973         0              0              0
  51  Drawer          -1.610         0.681          -0.430         0              0              0
  52  Window          -2.566         1.799          -0.822         270            0              0
  53  Drawer          -1.610         0.681          -1.217         0              0              0
  54  Sink            -1.990         1.143          -0.975         0              0              0
  55  StoveBurner     -0.125         1.325          -2.973         0              0              0
  56  StoveKnob       -0.185         1.338          -2.741         0              270            180
  57  StoveKnob       -0.336         1.338          -2.741         0              270            180
  58  StoveKnob       -0.569         1.338          -2.741         0              270            180
  59  StoveKnob       -0.707         1.338          -2.741         0              270            180
  60  Fridge          1.013          0.227          1.917          0              270            0
  61  Microwave       0.994          1.310          -2.163         0              270            0
  62  GarbageCan      -1.633         0.212          2.192          0              270            0
  63  LightSwitch     1.386          1.565          -0.657         0              270            0
  64  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  65  SinkBasin       -1.835         1.039          -0.542         0              0              0
  66  ButterKnife     0.873          0.468          0.651          0              0              0
  67  Toaster         -1.885         1.310          -2.512         0              90             0
  68  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  69  Drawer          0.647          1.061          0.680          0              270            0
  70  Drawer          0.648          1.061          1.020          0              270            0
  71  Drawer          0.648          0.843          1.020          0              270            0
  72  SideTable       0.975          0.220          0.869          0              270            0
  73  Drawer          0.648          0.602          0.680          0              270            0
  74  Drawer          0.648          0.596          1.020          0              270            0
  75  Drawer          0.648          0.843          0.680          0              270            0
  76  Stool           0.606          0.222          -1.084         1.233          280.489        0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Turn left for four steps, turn left for four steps and stop in front of the bread on the counter. | STEP 2: Pick up the fork on the counter near the wall behind the bread. | STEP 3: Turn left for six steps, turn right to face the sink. | STEP 4: Put her fork in the sink, turn on the water and fill the sink halfway, when the water drains, pick up the fork. | STEP 5: Turn right for seven steps, turn right for five steps and stop in front of the table with the microwave. | STEP 6: Put the fork on the table to the left of the existing fork and behind the front shaker, horizontally with the tines on the table and leaning against the front shaker. | END