Task: Collecting dirty forks

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              0              0
   1  Pan             1.807          0.909          -0.320         0              180            0              43
   2  Ladle           0.220          0.954          1.092          0              90             0              41
   3  DishSponge      1.501          0.910          0.915          0              90             0              41
   4  Fork            0.476          0.911          0.739          0              180            0              41
   5  Spoon           0.652          0.912          -1.352         0              0              0              45
   6  Plate           1.839          0.912          0.415          0              90             0              41
   7  Knife           1.529          0.943          0.415          0              90             0              41
   8  SoapBottle      1.501          0.908          1.269          0              90             0              41
   9  Bowl            1.809          2.134          1.159          0              0              0              48
  10  SaltShaker      0.455          0.906          -1.263         0              90             0              45
  11  PepperShaker    1.245          0.905          0.827          0              90             0              41
  12  PepperShaker    1.844          1.634          0.263          0              0              0              50
  13  Bread           1.796          0.988          -1.631         0              90             0              45
  14  Bread           0.476          0.987          1.269          0              90             0              41
  15  Mug             1.706          1.010          -0.888         0              270            0              65
  16  Mug             1.935          0.906          -1.802         0              90             0              45
  17  Apple           0.220          0.967          0.827          0              90             0              41
  18  Apple           -0.295         1.121          -1.382         0              0              0              68
  19  Plate           1.757          0.912          1.180          0              90             0              41
  20  SoapBottle      1.739          0.068          1.684          0              270            0              59
  21  Cup             -0.790         1.681          -1.629         0              0              0              68
  22  Egg             1.239          0.795          -1.710         0              0              0              60
  23  Fork            1.684          0.911          0.570          0              180            0              41
  24  Ladle           1.201          0.926          0.743          3.367          0              346.986        41
  25  Apple           1.796          0.968          -1.288         0              90             0              45
  26  SaltShaker      1.269          0.906          -1.230         0              90             0              45
  27  Pan             1.543          0.909          -0.320         0              90             0              44
  28  Tomato          0.258          0.975          -1.263         0              90             0              45
  29  Spatula         0.476          0.925          1.004          0              90             0              41
  30  Potato          1.245          0.950          1.269          0              90             0              41
  31  Knife           1.139          0.761          -1.584         271.557        81.708         278.445        60
  32  ButterKnife     1.726          0.911          -1.460         0              90             0              45
  33  Bread           1.615          0.977          0.761          0              50.525         0              41
  34  Lettuce         0.856          0.989          1.120          0              270            1.472          41
  35  PepperShaker    1.516          0.906          -1.460         0              0              0              45
  36  Pot             1.534          0.908          0.058          0              195.000        0              47
  37  DishSponge      1.842          2.136          0.805          0              0              0              49
  38  Spoon           1.865          0.912          -1.460         0              90             0              45
  39  Bowl            -0.790         0.459          -1.476         0              0              0              68
  40  Mug             0.502          0.940          -1.460         0              0              0              67
  41  CounterTop      0.989          0.946          1.016          0              90             0
  42  StoveBurner     1.807          0.907          0.075          0              180            0
  43  StoveBurner     1.807          0.907          -0.320         0              180            0
  44  StoveBurner     1.543          0.907          -0.320         0              90             0
  45  CounterTop      0.989          0.946          -1.516         0              90             0
  46  Sink            1.100          0.906          -1.599         0              0              0
  47  StoveBurner     1.548          0.907          0.075          0              180            0
  48  Cabinet         1.658          2.299          1.313          0              0              0
  49  Cabinet         1.658          2.299          0.686          0              0              0
  50  Cabinet         1.658          2.049          0.673          0              0              0
  51  Cabinet         1.658          2.059          0.193          0              0              0
  52  Cabinet         1.658          2.059          -0.593         0              0              0
  53  Cabinet         1.658          2.049          -0.606         0              0              0
  54  Cabinet         1.658          2.049          -1.206         0              0              0
  55  Cabinet         1.658          2.049          -1.893         0              0              0
  56  Toaster         0.131          0.900          -1.589         0              0              0
  57  Window          -0.372         1.588          3.349          90             0              0
  58  Window          0.782          1.741          -1.893         90             0              0
  59  GarbageCan      1.770          -0.029         1.685          0              270            0
  60  SinkBasin       1.091          0.740          -1.599         0              0              0
  61  StoveKnob       1.364          0.821          0.086          48.421         270            0
  62  StoveKnob       1.364          0.821          -0.180         48.421         270            0
  63  StoveKnob       1.364          0.821          -0.317         48.421         270            0
  64  StoveKnob       1.364          0.821          -0.054         48.421         270            0
  65  Microwave       1.752          0.900          -0.843         0              270            0
  66  LightSwitch     2.0            1.261          3.094          0              270            0
  67  CoffeeMachine   0.501          0.900          -1.600         0              0              0
  68  Fridge          -0.533         0.0            -1.554         0              0              0
  69  Chair           1.068          0.000          1.752          0              191.622        0
  70  Faucet          1.110          1.138          -1.764         0              270            0
  71  Chair           0.357          0.000          1.710          0              178.899        0
  72  NorthWall
  73  EastWall
  74  SouthWall
  75  WestWall

Plan:
STEP 1: Turn to the right and walk up to the kitchen counter to the left of the stove | STEP 2: Pick up the metal fork on the counter | STEP 3: Turn to the right and walk to the sink | STEP 4: Place the fork in the bottom of the sink | STEP 5: Turn around and walk to the kitchen counter and face it | STEP 6: Pick up the metal fork on the counter | STEP 7: Turn around and walk to the kitchen sink  | STEP 8: Place the fork in the bottom of the sink | END