Task: Put the dirty utensils in the sink.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.899          5.0            0              180            0
   1  Pencil          -4.033         0.923          3.863          0              90             0              77
   2  Pencil          -4.066         0.745          4.809          0              90             0              84
   3  ButterKnife     -4.312         0.923          2.300          0              0              0              77
   4  ButterKnife     -1.943         0.923          2.026          0              0              0              59
   5  WineBottle      -1.860         0.924          1.875          0              0              0              59
   6  WineBottle      -1.860         0.924          2.026          0              0              0              59
   7  Fork            -4.172         0.924          2.533          0              0              0              77
   8  Fork            -4.031         0.924          1.648          0              0              0              77
   9  Spoon           -3.859         0.924          1.799          0              0              0              77
  10  Cup             -4.031         0.922          1.951          0              0              0              77
  11  Cup             -0.295         1.069          3.231          0              270            0              110
  12  Egg             -0.383         1.721          3.733          0              270            0              110
  13  Egg             -0.259         1.371          3.479          0              270            0              110
  14  SoapBottle      -4.249         0.077          2.286          0              90             0              87
  15  SoapBottle      -4.517         0.923          3.665          0              90             0              77
  16  Bowl            -2.057         1.450          1.638          0              0              0              96
  17  SaltShaker      -2.026         0.919          1.648          0              0              0              59
  18  PepperShaker    -3.264         0.741          5.162          0              180            0              89
  19  PepperShaker    -0.258         0.921          5.603          0              0              0              62
  20  Lettuce         -0.488         1.020          4.944          0              0              0              62
  21  Lettuce         -3.712         0.164          6.375          0              270            0              103
  22  Bread           -0.295         1.150          3.726          0              270            0              110
  23  Mug             -0.409         0.955          6.557          0              270            0              98
  24  Mug             -3.871         0.074          5.116          0              180            0              91
  25  Apple           -2.583         1.599          1.698          0              0              0              107
  26  Apple           -1.860         0.976          1.724          0              0              0              59
  27  Egg             -0.342         1.721          3.915          0              270            0              110
  28  Apple           -2.688         1.599          1.633          0              0              0              107
  29  Knife           -0.334         0.954          5.273          0              0              0              62
  30  Potato          -4.184         0.956          4.381          0              90             0              77
  31  Fork            -0.334         0.925          4.615          0              0              0              62
  32  Bowl            -3.163         0.076          5.155          0              90             0              55
  33  Plate           -1.934         0.082          1.892          0              0              0              93
  34  Lettuce         -2.026         1.018          1.875          0              0              0              59
  35  Bread           -4.26          1.003          5.418          0              90             0              77
  36  Tomato          -0.488         0.982          5.273          0              0              0              62
  37  WineBottle      -0.565         0.926          4.615          0              0              0              62
  38  Spatula         -0.334         0.940          4.944          0              90             0              62
  39  PaperTowelRoll  -4.184         1.027          4.640          0              90             0              77
  40  Cup             -1.777         0.922          1.573          0              0              0              59
  41  Pencil          -4.108         0.923          4.900          0              90             0              77
  42  Pan             -4.108         0.923          3.863          0              90             0              77
  43  Pot             -2.924         0.930          1.712          0              180            0              74
  44  SaltShaker      -0.104         0.921          5.603          0              0              0              56
  45  SoapBottle      -0.488         0.924          5.603          0              0              0              62
  46  PepperShaker    -1.860         0.742          1.896          0              0              0              75
  47  ButterKnife     -1.693         0.923          1.724          0              0              0              59
  48  DishSponge      -4.093         0.083          3.129          0              0              0              90
  49  Spoon           -0.181         0.926          4.944          0              0              0              62
  50  Mug             -0.342         1.575          3.470          0              270            0              110
  51  Cabinet         -3.203         1.931          1.777          0              0              0
  52  Cabinet         -3.187         0.390          2.089          0              0              0
  53  Cabinet         -0.637         0.387          6.882          0              180            0
  54  Drawer          -3.797         0.781          1.961          0              0              0
  55  Cabinet         -3.036         0.387          5.029          0              90             0
  56  Drawer          -0.509         0.775          5.268          0              270            0
  57  Drawer          -4.125         0.798          2.499          0              0              0
  58  Cabinet         -0.331         2.249          4.308          0              180            0
  59  CounterTop      -1.872         0.958          1.799          0              0              0
  60  StoveBurner     -2.924         0.924          2.012          0              0              0
  61  Cabinet         -0.331         2.249          6.806          0              180            0
  62  CounterTop      -0.345         0.960          5.603          0              0              0
  63  Cabinet         -3.039         1.935          5.321          0              90             0
  64  Cabinet         -3.922         0.397          2.088          0              0              0
  65  StoveBurner     -2.467         0.924          2.012          0              0              0
  66  Cabinet         -0.331         2.249          5.505          0              180            0
  67  Drawer          -0.509         0.775          4.617          0              270            0
  68  Drawer          -3.509         0.777          5.157          0              180            0
  69  Cabinet         -3.961         0.388          2.878          0              0              0
  70  Cabinet         -3.961         0.388          4.342          0              0              0
  71  Cabinet         -0.637         0.387          5.582          0              180            0
  72  Cabinet         -0.637         0.388          4.299          0              180            0
  73  Cabinet         -0.637         0.388          5.599          0              180            0
  74  StoveBurner     -2.924         0.924          1.712          0              180            0
  75  Drawer          -1.859         0.775          1.961          0              0              0
  76  Cabinet         -0.331         2.249          5.609          0              180            0
  77  CounterTop      -4.260         0.958          4.943          0              90             0
  78  Cabinet         -4.284         1.931          2.226          0              0              0
  79  Cabinet         -0.331         2.249          3.010          0              180            0
  80  Drawer          -3.801         0.777          5.157          0              180            0
  81  Cabinet         -4.112         1.935          5.321          0              90             0
  82  Cabinet         -3.968         0.388          3.662          0              0              0
  83  Drawer          -3.418         0.777          1.961          0              0              0
  84  Drawer          -4.090         0.777          4.661          0              90             0
  85  Faucet          -4.441         0.909          3.288          270            0              0
  86  Cabinet         -0.331         2.249          4.207          0              180            0
  87  Cabinet         -3.961         0.388          2.119          0              0              0
  88  Drawer          -0.509         0.775          5.920          0              270            0
  89  Drawer          -3.193         0.777          5.157          0              180            0
  90  Cabinet         -3.968         0.388          2.894          0              0              0
  91  Cabinet         -3.667         0.387          5.029          0              90             0
  92  StoveBurner     -2.469         0.924          1.712          0              270            0
  93  Cabinet         -1.539         0.388          2.090          0              0              0
  94  Sink            -4.190         0.921          3.279          0              0              0
  95  Cabinet         -3.641         0.387          5.029          0              90             0
  96  Cabinet         -1.583         1.931          1.777          0              0              0
  97  Drawer          -0.509         0.775          6.568          0              270            0
  98  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  99  StoveKnob       -2.347         1.095          1.560          288.012        180            180
 100  StoveKnob       -2.788         1.095          1.560          288.012        180            180
 101  StoveKnob       -2.965         1.095          1.560          288.012        180            180
 102  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 103  GarbageCan      -3.711         -0.030         6.376          0              270            0
 104  Toaster         -3.578         0.912          1.763          0              0              0
 105  Curtains        -4.522         2.252          3.391          90             90             0
 106  Window          -4.868         1.629          3.309          90             270            0
 107  Microwave       -2.693         1.430          1.689          0              0              0
 108  LightSwitch     -1.588         1.169          1.506          0              0              0
 109  SinkBasin       -4.196         0.780          3.276          0              270            0
 110  Fridge          -0.324         -0.001         3.602          0              0              0
 111  NorthWall
 112  EastWall
 113  SouthWall
 114  WestWall

Plan:
STEP 1: Turn to the right and walk towards the counter with the paper towels, then turn left and walk to the counter to the nearest right of the stove. | STEP 2: Pick up the fork from the counter. | STEP 3: Turn around and walk towards the sink on the left. | STEP 4: Pick up the pan above the dishwasher. | STEP 5: Put away the fork. | STEP 6: Pick up the fork and pan on the counter and turn left towards the sink. | STEP 7: Place the fork and the pan in the sink. | END