Task: Putting away clean dishes, gathering dirty dishes

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.0           0.900          -3.25          0              90             0
   1  Pan             -1.515         0.935          -3.497         0              0              0              52
   2  Glassbottle     -0.385         0.916          -3.555         0              0              0              55
   3  Pen             -2.552         0.926          -0.963         0              0              0              80
   4  Pen             -0.671         0.918          -3.697         0              0              0              55
   5  DishSponge      -2.438         0.923          -2.115         0              0              0              80
   6  DishSponge      -0.357         1.530          -3.644         0              45             0              63
   7  ButterKnife     -2.324         0.923          -1.193         0              90             0              80
   8  WineBottle      -0.233         1.531          -3.630         0              45             0              63
   9  WineBottle      -2.324         0.924          -1.423         0              0              0              80
  10  Spatula         -2.438         0.938          -1.654         0              270            0              80
  11  Fork            -2.666         0.924          -1.654         0              90             0              80
  12  Fork            -2.438         0.924          -1.193         0              0              0              80
  13  Spoon           -2.666         0.924          -1.884         0              0              0              80
  14  Spoon           -0.671         0.916          -3.839         0              0              0              55
  15  Knife           -2.210         0.946          -2.345         0              0              0              80
  16  Knife           -2.666         0.946          -1.193         0              90             0              80
  17  Tomato          -2.438         0.987          -0.963         0              0              0              80
  18  Bowl            -2.780         0.922          -1.423         0              0              0              80
  19  Bowl            -0.365         0.914          -3.771         0              0              0              55
  20  PepperShaker    -0.743         0.912          -3.485         0              0              0              55
  21  PepperShaker    -1.048         1.965          -3.890         0              0              0              64
  22  Mug             -0.343         1.385          -0.874         0              270            0              72
  23  Apple           -1.943         0.100          -3.763         0              0              0              71
  24  Apple           -2.438         0.996          -1.423         0              0              0              80
  25  Apple           -0.600         0.989          -3.909         0              0              0              55
  26  Lettuce         -2.096         1.016          -1.193         0              0              0              80
  27  Glassbottle     -0.499         0.081          -3.236         0              0              0              61
  28  Egg             -2.096         0.956          -1.654         0              0              0              80
  29  Pen             -2.780         0.926          -0.963         0              0              0              80
  30  Fork            -0.398         0.797          -2.008         0              180            0              73
  31  SoapBottle      -2.324         0.922          -1.654         0              0              0              80
  32  Pencil          -2.552         0.923          -2.115         0              0              0              80
  33  WineBottle      -2.780         0.924          -1.193         0              0              0              80
  34  Spatula         -2.438         0.938          -2.345         0              0              0              80
  35  Bread           -0.343         1.151          -0.560         0              270            0              72
  36  Tomato          -0.392         1.162          -0.979         0              270            0              72
  37  Pan             -1.129         0.935          -3.498         0              0              0              53
  38  Cup             -1.496         1.968          -3.851         0              0              0              64
  39  Pot             -2.238         0.913          -1.882         0              0              0              80
  40  SaltShaker      -0.478         0.743          -3.208         0              0              0              66
  41  Potato          -0.246         1.422          -1.084         0              270            0              72
  42  PepperShaker    -0.365         0.912          -3.368         0              0              0              55
  43  ButterKnife     -0.436         0.915          -2.764         0              0              0              55
  44  DishSponge      -1.601         1.969          -3.928         0              0              0              64
  45  Spoon           -2.552         0.924          -1.423         0              0              0              80
  46  Plate           -0.295         1.393          -0.560         0              270            0              72
  47  Knife           -2.269         0.920          -2.143         90             315            0              80
  48  Mug             -0.600         0.910          -3.626         0              0              0              55
  49  Bowl            -2.780         0.922          -1.654         0              0              0              80
  50  Cabinet         -0.582         0.388          -1.804         0              0              0
  51  StoveBurner     -1.515         0.928          -3.752         0              90             0
  52  StoveBurner     -1.515         0.928          -3.497         0              0              0
  53  StoveBurner     -1.129         0.928          -3.498         0              0              0
  54  Drawer          -0.749         0.779          -3.551         0              0              0
  55  CounterTop      -0.303         0.951          -2.793         0              0              0
  56  Cabinet         -0.883         2.140          -3.687         0              0              0
  57  Cabinet         -0.312         2.140          -1.543         0              0              0
  58  Sink            -0.349         0.907          -2.014         0              0              0
  59  Cabinet         -0.877         0.388          -3.422         0              0              0
  60  Cabinet         -0.582         0.388          -2.197         0              0              0
  61  Cabinet         -0.584         0.388          -3.396         0              0              0
  62  Cabinet         -0.312         2.140          -2.481         0              0              0
  63  Cabinet         -0.330         1.921          -3.390         0              0              0
  64  Cabinet         -1.764         2.140          -3.687         0              0              0
  65  StoveBurner     -1.129         0.928          -3.752         0              90             0
  66  Drawer          -0.454         0.779          -3.268         0              0              0
  67  Cabinet         -0.302         1.916          -2.501         0              0              0
  68  Microwave       -1.317         1.517          -3.801         0              1.440          0
  69  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  70  LightSwitch     -4.323         1.319          0.0            0              180            0
  71  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  72  Fridge          -0.330         0.0            -0.769         0              270            0
  73  SinkBasin       -0.350         0.786          -2.018         0              270            0
  74  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  75  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  76  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  77  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  78  Toaster         -0.181         0.903          -2.764         0              270            0
  79  Window          -2.503         1.782          -4.185         90             180            0
  80  DiningTable     -2.432         0.000          -1.694         0              270            0
  81  Shelf           -2.432         0.150          -1.694         0              270            0
  82  Blinds          -2.536         2.699          -3.959         0              0              0
  83  Faucet          -0.079         0.904          -2.034         270            180            0
  84  Chair           -3.264         0.002          -2.094         0              53.280         0
  85  Chair           -3.240         0.002          -1.253         0              117.257        0
  86  Shelf           -2.432         0.523          -1.694         0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Walk to the counter | STEP 2: Grab the fork that is in the sink | STEP 3: Turn to the right | STEP 4: Walk straight to the cabinet that is above the microwave | STEP 5: Open the door to the above cabinet  | STEP 6: Stick the fork in the cabinet | STEP 7: Get the glass that is in the cabinet and take it to the sink | END