Task: Put the fork on plate next to the toaster

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.900          -1.25          0              90             0
   1  Potato          -3.713         0.792          -3.778         0              199.125        0              77
   2  Potato          -3.856         0.792          -3.264         0              334.125        0              77
   3  DishSponge      -0.321         0.941          -2.788         0              0              0              41
   4  Pot             -3.429         0.761          -3.572         0              334.125        0              77
   5  Fork            -0.236         0.941          -1.581         0              0              0              59
   6  Spoon           -0.473         0.943          -2.670         0              0              0              41
   7  Spoon           -4.062         0.692          -0.430         0              0              0              76
   8  Egg             -2.354         0.140          -3.472         0              0              0              66
   9  Egg             -0.252         1.327          -0.529         0              270            0              71
  10  Cup             -4.002         0.691          -0.248         0              0              0              76
  11  Plate           -0.429         0.094          -2.793         0              0              0              54
  12  Plate           -0.173         1.516          -2.964         0              0              0              58
  13  Bowl            -3.175         0.758          -3.174         0              244.125        0              77
  14  Bowl            -0.135         1.500          -1.449         0              0              0              52
  15  PepperShaker    -1.084         0.078          -3.454         0              0              0              56
  16  PepperShaker    -4.122         0.686          -0.309         0              0              0              76
  17  Mug             -0.397         1.483          -0.762         0              270            0              71
  18  Apple           -1.060         1.003          -3.851         0              45             0              41
  19  Apple           -3.780         0.821          -3.591         0              199.125        0              77
  20  SoapBottle      -0.509         0.078          -2.568         0              90             0              54
  21  Pot             -0.437         0.961          -1.845         0              180            0              42
  22  Fork            -3.898         0.760          -3.455         0              244.125        0              77
  23  Cup             -0.334         1.287          -0.297         0              270            0              71
  24  Tomato          -0.252         1.337          -0.762         0              270            0              71
  25  Pan             -0.222         0.961          -2.243         0              0              0              60
  26  Plate           -0.283         1.502          -0.529         0              270            0              71
  27  Bread           -3.755         0.841          -3.043         0              334.125        0              77
  28  Spatula         -0.605         0.828          -3.376         0              315            0              70
  29  Knife           -0.394         0.966          -1.538         0              0              0              59
  30  SaltShaker      -0.465         0.743          -1.375         0              0              0              45
  31  PepperShaker    -3.882         0.686          -0.309         0              0              0              76
  32  ButterKnife     -4.062         0.690          -0.491         0              0              0              76
  33  Apple           -4.182         0.751          -0.430         0              0              0              76
  34  DishSponge      -0.495         0.746          -1.525         0              0              0              45
  35  Potato          -2.485         0.131          -3.505         0              0              0              66
  36  Egg             -3.163         0.935          -0.290         0              270            0              78
  37  Spoon           -3.565         0.895          -0.290         0              270            0              78
  38  Lettuce         -2.560         0.985          -0.548         0              270            0              78
  39  Mug             -0.134         1.574          -1.937         0              0              0              73
  40  Bowl            -3.890         0.758          -3.716         0              199.125        0              77
  41  CounterTop      -1.937         0.977          -3.673         0              0              0
  42  StoveBurner     -0.437         0.924          -1.845         0              180            0
  43  StoveBurner     -0.222         0.924          -1.845         0              180            0
  44  StoveBurner     -0.437         0.924          -2.243         0              0              0
  45  Drawer          -0.500         0.779          -1.450         0              0              0
  46  Drawer          -0.481         0.777          -2.739         0              0              0
  47  Drawer          -1.154         0.782          -3.499         0              0              0
  48  Cabinet         -0.337         2.110          -0.390         0              0              0
  49  Cabinet         -0.337         2.110          -1.272         0              0              0
  50  Cabinet         -0.337         2.110          -1.631         0              0              0
  51  Cabinet         -0.337         2.110          -2.497         0              0              0
  52  Cabinet         -0.337         1.891          -1.286         0              0              0
  53  Cabinet         -0.346         1.891          -3.293         0              0              0
  54  Cabinet         -0.629         0.388          -2.513         0              0              0
  55  Cabinet         -0.633         0.388          -3.008         0              0              0
  56  Cabinet         -1.010         0.388          -3.368         0              0              0
  57  Cabinet         -0.629         0.388          -1.614         0              0              0
  58  Cabinet         -0.327         1.886          -2.513         0              0              0
  59  CounterTop      -0.326         0.976          -1.450         0              0              0
  60  StoveBurner     -0.222         0.924          -2.243         0              0              0
  61  Sink            -0.600         0.929          -3.388         0              0              0
  62  StoveKnob       -0.617         0.899          -1.833         315            90             180
  63  StoveKnob       -0.617         0.899          -2.129         315            90             180
  64  StoveKnob       -0.617         0.899          -2.289         315            90             180
  65  StoveKnob       -0.617         0.899          -1.975         315            90             180
  66  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  67  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  68  Window          -1.389         1.610          -4.113         90             0              0
  69  LightSwitch     -4.372         1.493          -1.031         0              90             0
  70  SinkBasin       -0.614         0.802          -3.384         0              315            0
  71  Fridge          -0.314         0.0            -0.646         0              0              0
  72  Toaster         -1.970         0.930          -3.763         0              0              0
  73  Microwave       -0.216         1.470          -2.054         0              270            0
  74  Blinds          -1.373         2.205          -3.961         0              0              0
  75  Faucet          -0.393         0.930          -3.614         270            225            0
  76  SideTable       -4.030         0.002          -0.301         0              185.034        0
  77  DiningTable     -3.586         0.000          -3.258         0              0              0
  78  DiningTable     -3.224         -0.003         -0.453         0              0              0
  79  Shelf           -4.030         0.259          -0.301         0              185.034        0
  80  Shelf           -4.030         0.489          -0.301         0              185.034        0
  81  EastWall
  82  EastWall
  83  SouthWall

Plan:
STEP 1: Turn right, head straight to the stove | STEP 2: Pick up the fork on the side of the stove | STEP 3: Turn right, head to the sink | STEP 4: Open the cabinet door above the sink | STEP 5: Put the fork on a plate in the cabinet | STEP 6: Take the plate out of the cabinet, Turn around | STEP 7: walk to the toaster, put the plate on the counter next to the toaster | END