Task: put forks into the sink and clean them up

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          -1.5           0              0              0
   1  Potato          -0.447         0.828          -1.860         0              270            0              69
   2  ButterKnife     -2.324         0.923          -2.115         0              0              0              76
   3  Spatula         -2.096         0.938          -1.423         0              0              0              76
   4  Fork            -2.324         0.924          -0.963         0              0              0              76
   5  Fork            -0.815         0.916          -3.626         0              90             0              51
   6  Spoon           -2.324         0.924          -2.345         0              0              0              76
   7  Knife           -2.438         0.946          -1.654         0              270            0              76
   8  Knife           -2.552         0.946          -2.345         0              90             0              76
   9  Plate           -2.666         0.925          -1.193         0              0              0              76
  10  Cup             -0.365         0.914          -3.368         0              0              0              51
  11  Cup             -0.350         0.796          -1.934         0              270            0              69
  12  Egg             -2.780         0.956          -1.654         0              0              0              76
  13  SoapBottle      -0.162         1.526          -3.230         0              0              0              63
  14  Bowl            -2.438         0.922          -1.423         0              0              0              76
  15  Bowl            -2.666         0.922          -2.345         0              0              0              76
  16  PepperShaker    -2.438         0.919          -0.963         0              0              0              76
  17  PepperShaker    -2.780         0.919          -2.115         0              0              0              76
  18  Mug             -0.351         0.962          -3.144         0              270            0              65
  19  Apple           -1.975         0.100          -3.727         0              0              0              67
  20  Apple           -0.246         1.172          -0.665         0              270            0              68
  21  Apple           -1.204         1.703          -3.870         0              0              0              64
  22  Lettuce         -2.210         1.016          -1.193         0              0              0              76
  23  Glassbottle     -0.508         0.916          -2.764         0              0              0              51
  24  Egg             -0.228         1.723          -0.770         0              270            0              68
  25  Pen             -2.666         0.926          -1.884         0              0              0              76
  26  Fork            -2.210         0.924          -2.345         0              180            0              76
  27  SoapBottle      -2.210         0.922          -1.654         0              0              0              76
  28  Pencil          -1.943         0.027          -3.727         0              0              0              67
  29  WineBottle      -0.344         0.082          -1.849         0              0              0              46
  30  Spatula         -2.438         0.938          -0.963         0              0              0              76
  31  Bread           -0.414         0.952          -3.625         0              0              0              51
  32  Tomato          -0.348         1.754          -1.084         0              270            0              68
  33  Pan             -1.515         0.935          -3.752         0              90             0              47
  34  Cup             -2.666         0.922          -2.115         0              0              0              76
  35  Pot             -1.129         0.935          -3.498         0              0              0              49
  36  SaltShaker      -1.654         1.965          -3.851         0              0              0              60
  37  Potato          -0.295         1.422          -1.084         0              270            0              68
  38  PepperShaker    -2.096         0.919          -1.423         0              0              0              76
  39  ButterKnife     -0.371         0.903          -3.443         0              0              0              51
  40  DishSponge      -0.398         0.796          -2.082         0              270            0              69
  41  Spoon           -0.150         0.916          -3.570         0              0              0              51
  42  Plate           -0.671         0.918          -3.697         0              0              0              51
  43  Knife           -2.324         0.946          -1.884         0              0              0              76
  44  Mug             -0.246         1.385          -0.455         0              270            0              68
  45  Bowl            -0.295         1.529          -3.637         0              45             0              59
  46  Cabinet         -0.582         0.388          -1.804         0              0              0
  47  StoveBurner     -1.515         0.928          -3.752         0              90             0
  48  StoveBurner     -1.515         0.928          -3.497         0              0              0
  49  StoveBurner     -1.129         0.928          -3.498         0              0              0
  50  Drawer          -0.749         0.779          -3.551         0              0              0
  51  CounterTop      -0.303         0.951          -2.793         0              0              0
  52  Cabinet         -0.883         2.140          -3.687         0              0              0
  53  Cabinet         -0.312         2.140          -1.543         0              0              0
  54  Sink            -0.349         0.907          -2.014         0              0              0
  55  Cabinet         -0.877         0.388          -3.422         0              0              0
  56  Cabinet         -0.582         0.388          -2.197         0              0              0
  57  Cabinet         -0.584         0.388          -3.396         0              0              0
  58  Cabinet         -0.312         2.140          -2.481         0              0              0
  59  Cabinet         -0.330         1.921          -3.390         0              0              0
  60  Cabinet         -1.764         2.140          -3.687         0              0              0
  61  StoveBurner     -1.129         0.928          -3.752         0              90             0
  62  Drawer          -0.454         0.779          -3.268         0              0              0
  63  Cabinet         -0.302         1.916          -2.501         0              0              0
  64  Microwave       -1.317         1.517          -3.801         0              1.440          0
  65  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  66  LightSwitch     -4.323         1.319          0.0            0              180            0
  67  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  68  Fridge          -0.330         0.0            -0.769         0              270            0
  69  SinkBasin       -0.350         0.786          -2.018         0              270            0
  70  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  71  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  72  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  73  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  74  Toaster         -0.181         0.903          -2.764         0              270            0
  75  Window          -2.503         1.782          -4.185         90             180            0
  76  DiningTable     -2.432         0.000          -1.694         0              270            0
  77  Shelf           -2.432         0.150          -1.694         0              270            0
  78  Blinds          -2.536         2.699          -3.959         0              0              0
  79  Faucet          -0.079         0.904          -2.034         270            180            0
  80  Chair           -3.264         0.002          -2.094         0              53.280         0
  81  Chair           -3.240         0.002          -1.253         0              117.257        0
  82  Shelf           -2.432         0.523          -1.694         0              270            0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: look down and turn right and walk straight towards the sink then turn right and walk to the stove | STEP 2: pick up the fork off of the counter top | STEP 3: turn around and walk towards the sink and turn right | STEP 4: put the fork down into the sink | STEP 5: turn right and then walk straight then turn right again towards the table and look down | STEP 6: pick up the fork in front of the spoon on the table | STEP 7: turn right and walk straight then turn right again and walk straight towards the sink | STEP 8: put the fork into the sink | END