Task: Wash a fork and put it back on the black 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          0.869          -3.25          0              90             0
   1  Potato          0.824          0.698          -2.035         0              270            0              61
   2  Potato          -2.002         0.832          -3.705         0              0              0              63
   3  ButterKnife     0.757          0.772          -0.625         0              270            0              64
   4  ButterKnife     -1.641         0.696          -3.445         0              90             0              68
   5  Spoon           0.841          0.666          0.508          0              180            0              46
   6  Spoon           0.950          0.884          -0.108         0              0              0              41
   7  Fork            0.841          0.665          0.326          0              0              0              46
   8  Fork            -1.886         0.702          -1.199         0              0              0              77
   9  Pot             -2.097         0.930          0.785          0              0              0              43
  10  Egg             -1.843         0.836          -3.705         0              0              0              63
  11  Egg             0.781          0.702          0.569          0              0              0              46
  12  Cup             0.961          0.663          0.387          0              0              0              46
  13  Cup             0.746          1.373          -1.802         0              270            0              61
  14  SoapBottle      0.661          0.664          0.387          0              0              0              46
  15  Bowl            0.949          1.462          0.411          0              0              0              53
  16  Bowl            -0.051         0.899          1.015          0              270            0              67
  17  SaltShaker      0.961          0.660          0.569          0              0              0              46
  18  Apple           -0.252         0.954          1.015          0              270            0              67
  19  Pot             -1.552         0.930          0.785          0              0              0              45
  20  Plate           0.787          0.019          -0.119         0              0              0              51
  21  Fork            -1.803         0.702          -1.524         0              0              0              77
  22  SoapBottle      -1.187         0.051          -3.611         0              270            0              56
  23  Apple           0.708          1.212          -2.035         0              270            0              61
  24  Pan             0.740          -0.007         -0.596         0              0              0              44
  25  Egg             0.863          1.411          -2.113         0              270            0              61
  26  Spatula         0.817          0.774          -0.061         0              0              0              40
  27  Potato          0.781          0.697          0.448          0              180            0              46
  28  Cup             -1.578         0.698          -3.614         0              0              0              68
  29  SaltShaker      0.721          0.660          0.508          0              0              0              46
  30  PepperShaker    0.621          0.012          -0.833         0              0              0              44
  31  ButterKnife     -1.719         0.701          -1.307         0              0              0              77
  32  DishSponge      0.671          0.759          0.002          0              0              0              40
  33  Bread           -0.873         0.931          0.978          0              24.231         0              67
  34  Lettuce         0.708          1.461          -2.035         0              270            0              61
  35  Tomato          -1.578         0.748          -3.782         0              0              0              68
  36  Spoon           0.901          0.665          0.630          0              0              0              46
  37  Knife           -1.620         0.723          -3.445         0              90             0              68
  38  Mug             0.698          0.941          -1.360         0              270            0              54
  39  Bowl            -2.038         0.691          -1.003         0              0              0              77
  40  Drawer          0.706          0.766          -0.125         0              0              0
  41  CounterTop      0.792          0.919          -0.108         0              0              0
  42  Mirror          1.093          1.602          -0.643         0              0              0
  43  StoveBurner     -2.096         0.890          0.785          0              0              0
  44  Cabinet         0.507          0.345          -0.426         0              0              0
  45  StoveBurner     -1.552         0.890          0.785          0              0              0
  46  SideTable       0.770          -0.030         0.443          0              0              0
  47  Sink            0.753          0.882          -0.680         0              0              0
  48  StoveBurner     -2.096         0.890          1.049          0              0              0
  49  GarbageBag      -0.770         0.287          -3.541         270            73.521         83.489
  50  StoveBurner     -1.554         0.890          1.049          0              0              0
  51  Cabinet         0.507          0.345          0.156          0              0              0
  52  Cabinet         0.717          1.822          -0.398         0              0              0
  53  Cabinet         0.717          1.822          0.669          0              0              0
  54  CoffeeMachine   0.873          0.865          -1.256         0              270            0
  55  Toaster         -0.522         0.886          1.081          0              180            0
  56  GarbageCan      -1.261         -0.031         -3.610         0              270            0
  57  StoveKnob       -1.898         0.866          0.519          311.864        0              180
  58  StoveKnob       -1.754         0.866          0.519          311.864        0              180
  59  StoveKnob       -2.058         0.866          0.519          311.864        0              180
  60  StoveKnob       -1.600         0.866          0.519          311.864        0              180
  61  Fridge          0.680          -0.031         -1.957         0              0              0
  62  Window          -2.424         1.639          -2.453         90             270            0
  63  Microwave       -1.994         0.690          -3.651         0              0              0
  64  SinkBasin       0.757          0.762          -0.688         0              270            0
  65  LightSwitch     1.102          1.368          -3.737         0              270            0
  66  Shelf           -0.350         0.124          0.857          0              0              0
  67  DiningTable     -0.350         -0.025         0.857          0              0              0
  68  DiningTable     -1.909         -0.032         -3.507         0              0              0
  69  Blinds          -2.343         2.151          -2.437         0              270            0
  70  AluminumFoil    0.762          0.224          0.337          0              184.594        0
  71  AluminumFoil    0.751          0.225          0.287          0              0              0
  72  AluminumFoil    0.839          0.224          0.392          0              195.128        0
  73  Shelf           0.771          0.226          0.445          0              0              0
  74  Shelf           0.771          0.456          0.446          0              0              0
  75  Faucet          1.025          0.873          -0.678         270            180            0
  76  Shelf           -0.350         0.497          0.857          0              0              0
  77  DiningTable     -1.929         -0.035         -1.398         0              90             0
  78  Chair           -1.610         -0.024         -1.424         358.454        297.426        0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Make a left and then walk to the far right corner of the room, where a small black table is on the left of a white table. | STEP 2: Pick up the fork from the small black table. | STEP 3: Make a right to walk to the sink. | STEP 4: Rinse the fork in the sink, removing it again. | STEP 5: Turn left to walk towards the small black table next to the white table. | STEP 6: Set the fork down on the black table. | END