Task: Rinse a fork and place it 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           0.25           0.869          0.0            0              270            0
   1  Pan             -2.097         0.930          1.049          0              0              0              47
   2  Potato          -1.719         0.734          -0.875         0              0              0              76
   3  Potato          0.785          1.407          -2.190         0              270            0              60
   4  DishSponge      0.601          0.664          0.387          0              0              0              45
   5  ButterKnife     0.574          0.760          -0.124         0              90             0              39
   6  ButterKnife     -0.855         0.900          0.843          0              270            0              66
   7  Spatula         0.623          0.774          -0.124         0              90             0              39
   8  Spoon           0.799          0.773          -0.625         0              270            0              63
   9  Pot             -1.056         0.899          1.101          0              0              0              75
  10  SoapBottle      0.787          0.014          0.011          0              0              0              50
  11  PepperShaker    0.767          1.460          -0.146         0              0              0              51
  12  Bread           0.149          0.944          0.929          0              270            0              66
  13  Lettuce         0.149          0.987          1.187          0              270            0              66
  14  Lettuce         0.785          0.751          -1.958         0              270            0              60
  15  Mug             0.824          1.153          -1.880         0              270            0              60
  16  Mug             0.841          0.767          -0.570         0              180            0              63
  17  Apple           -1.297         0.105          -3.574         0              270            0              55
  18  Pot             -1.552         0.930          0.785          0              0              0              44
  19  Plate           -2.023         0.692          -1.447         0              0              0              76
  20  Fork            -0.654         0.901          1.272          0              0              0              66
  21  SoapBottle      0.781          0.663          0.326          0              0              0              45
  22  Apple           0.799          0.826          -0.735         0              270            0              63
  23  Pan             0.740          -0.007         -0.596         0              0              0              43
  24  Egg             0.785          1.411          -1.880         0              270            0              60
  25  Spatula         -1.056         0.915          1.272          0              180            0              66
  26  Potato          0.961          0.698          0.448          0              0              0              45
  27  Cup             0.149          0.899          0.758          0              270            0              66
  28  SaltShaker      1.055          0.879          -0.460         0              0              0              40
  29  PepperShaker    0.901          0.660          0.569          0              0              0              45
  30  ButterKnife     0.841          0.664          0.630          0              0              0              45
  31  DishSponge      -0.252         0.900          1.187          0              270            0              66
  32  Bread           -1.719         0.745          -1.199         0              0              0              76
  33  Lettuce         0.781          0.752          0.508          0              0              0              45
  34  Tomato          1.024          0.931          -0.108         0              0              0              40
  35  Spoon           0.866          0.761          -0.061         0              90             0              39
  36  Knife           0.661          0.687          0.387          0              90             0              45
  37  Mug             0.898          0.010          -0.184         0              0              0              50
  38  Bowl            0.729          0.882          -0.039         0              0              0              40
  39  Drawer          0.706          0.766          -0.125         0              0              0
  40  CounterTop      0.792          0.919          -0.108         0              0              0
  41  Mirror          1.093          1.602          -0.643         0              0              0
  42  StoveBurner     -2.096         0.890          0.785          0              0              0
  43  Cabinet         0.507          0.345          -0.426         0              0              0
  44  StoveBurner     -1.552         0.890          0.785          0              0              0
  45  SideTable       0.770          -0.030         0.443          0              0              0
  46  Sink            0.753          0.882          -0.680         0              0              0
  47  StoveBurner     -2.096         0.890          1.049          0              0              0
  48  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  49  StoveBurner     -1.554         0.890          1.049          0              0              0
  50  Cabinet         0.507          0.345          0.156          0              0              0
  51  Cabinet         0.717          1.822          -0.398         0              0              0
  52  Cabinet         0.717          1.822          0.669          0              0              0
  53  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  54  Toaster         -0.522         0.886          1.081          0              180            0
  55  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  56  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  57  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  58  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  59  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  60  Fridge          0.680          -0.031         -1.957         0              0              0
  61  Window          -2.424         1.639          -2.453         90             270            0
  62  Microwave       -1.994         0.690          -3.651         0              0              0
  63  SinkBasin       0.757          0.762          -0.688         0              270            0
  64  LightSwitch     1.102          1.368          -3.737         0              270            0
  65  Shelf           -0.350         0.124          0.857          0              0              0
  66  DiningTable     -0.350         -0.025         0.857          0              0              0
  67  DiningTable     -1.909         -0.032         -3.507         0              0              0
  68  Blinds          -2.343         2.151          -2.437         0              270            0
  69  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  70  AluminumFoil    0.751          0.225          0.287          0              0              0
  71  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  72  Shelf           0.771          0.226          0.445          0              0              0
  73  Shelf           0.771          0.456          0.446          0              0              0
  74  Faucet          1.025          0.873          -0.678         270            180            0
  75  Shelf           -0.350         0.497          0.857          0              0              0
  76  DiningTable     -1.929         -0.035         -1.398         0              90             0
  77  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn to the right to face the toaster. | STEP 2: Pick up the fork from the far back edge of the counter. | STEP 3: Hold the fork and turn to around, then the left to locate the sink. | STEP 4: Place the fork in the sink and turn the water on. Turn the water off  Pick up the fork from the sink. | STEP 5: Carry the fork and take a few steps left to locate the small black table. | STEP 6: Place the fork on the right front side of the table. | END