Task: To clean a fork as well as place it on the black table in front of the microwave.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            1.124          0.25           0              0              0
   1  Pan             0.506          1.322          -2.424         0              0              0              54
   2  DishSponge      -1.952         0.343          0.311          0              0              0              52
   3  Kettle          -1.308         1.324          -3.092         0              0              0              54
   4  Fork            -1.645         0.423          -1.152         0              0              0              60
   5  Fork            -1.380         1.323          -2.870         0              0              0              54
   6  Fork            1.285          1.323          -0.942         0              0              0              54
   7  Spoon           -1.920         1.324          2.069          0              0              0              54
   8  Spatula         -1.730         0.435          -0.364         0              180            0              58
   9  Pot             -0.239         1.331          -3.301         0              180            0              49
  10  Pot             -0.749         1.332          -2.973         0              0              0              57
  11  Egg             0.938          1.798          2.112          0              270            0              67
  12  Cup             1.056          1.672          1.722          0              270            0              67
  13  Plate           -1.818         0.344          1.110          0              0              0              55
  14  Plate           -1.750         0.344          1.523          0              0              0              55
  15  Knife           -1.790         1.352          -2.981         0              0              0              54
  16  SoapBottle      -1.727         0.344          -2.262         0              0              0              50
  17  Tomato          -2.049         1.356          -2.721         0              0              0              54
  18  Bowl            0.869          1.522          1.662          0              270            0              67
  19  Bread           0.563          1.397          -3.121         0              0              0              54
  20  Bread           -1.920         1.397          0.445          0              0              0              54
  21  Lettuce         -1.790         1.399          -2.201         0              0              0              54
  22  Mug             0.928          2.023          2.288          0              270            0              67
  23  Mug             -1.451         1.318          -3.425         0              0              0              54
  24  Apple           -1.237         1.371          -3.314         0              0              0              54
  25  Apple           0.506          1.371          -2.794         0              0              0              54
  26  Bread           -1.513         1.380          0.662          0              0              0              54
  27  Pot             0.636          1.329          -1.683         0              0              0              54
  28  Knife           -1.826         1.362          -1.255         0              180            0              61
  29  Bowl            -1.660         1.321          1.419          0              0              0              54
  30  Potato          0.766          1.362          -3.164         0              0              0              54
  31  SoapBottle      1.027          1.207          1.222          0              0              0              79
  32  Fork            -1.772         0.420          -1.152         0              90             0              60
  33  Cup             -1.530         1.320          -2.721         0              0              0              54
  34  Kettle          -1.691         1.310          -3.156         0              150.000        0              54
  35  Egg             0.971          1.565          1.477          0              270            0              67
  36  Pan             -1.881         0.327          -2.035         0              0              0              50
  37  SaltShaker      1.110          1.202          1.254          0              90             0              79
  38  WineBottle      -1.682         0.344          1.317          0              0              0              55
  39  Lettuce         -1.891         1.400          -1.073         1.072          0              355.705        61
  40  Spatula         -2.004         1.343          -1.117         0              270            0              61
  41  PaperTowelRoll  -1.681         0.384          2.110          0              270            0              69
  42  Tomato          -1.522         1.356          -3.203         0              0              0              54
  43  Plate           0.900          0.345          -1.854         0              180            0              53
  44  PepperShaker    -1.749         0.338          0.613          0              0              0              52
  45  DishSponge      -1.614         0.343          0.613          0              0              0              52
  46  Spoon           0.944          1.208          1.206          0              0              0              79
  47  Apple           -1.634         0.329          2.234          0              270            0              69
  48  Mug             1.213          1.305          1.016          0              270            0              79
  49  StoveBurner     -0.239         1.325          -3.301         0              180            0
  50  Cabinet         -1.461         0.775          -2.002         0              0              0
  51  StoveBurner     -0.630         1.325          -3.301         0              180            0
  52  Cabinet         -1.461         0.775          0.470          0              0              0
  53  Cabinet         0.578          0.776          -2.054         0              0              0
  54  CounterTop      -1.809         1.358          1.182          0              0              0
  55  Cabinet         -1.461         0.775          1.310          0              0              0
  56  Faucet          -2.063         1.362          -0.726         0              39.391         0
  57  StoveBurner     -0.749         1.325          -2.973         0              0              0
  58  Drawer          -1.610         0.681          -0.430         0              0              0
  59  Window          -2.566         1.799          -0.822         270            0              0
  60  Drawer          -1.610         0.681          -1.217         0              0              0
  61  Sink            -1.990         1.143          -0.975         0              0              0
  62  StoveBurner     -0.125         1.325          -2.973         0              0              0
  63  StoveKnob       -0.185         1.338          -2.741         0              270            180
  64  StoveKnob       -0.336         1.338          -2.741         0              270            180
  65  StoveKnob       -0.569         1.338          -2.741         0              270            180
  66  StoveKnob       -0.707         1.338          -2.741         0              270            180
  67  Fridge          1.013          0.227          1.917          0              270            0
  68  Microwave       0.994          1.310          -2.163         0              270            0
  69  GarbageCan      -1.633         0.212          2.192          0              270            0
  70  LightSwitch     1.386          1.565          -0.657         0              270            0
  71  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  72  SinkBasin       -1.835         1.039          -0.542         0              0              0
  73  ButterKnife     0.873          0.468          0.651          0              0              0
  74  Toaster         -1.885         1.310          -2.512         0              90             0
  75  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  76  Drawer          0.647          1.061          0.680          0              270            0
  77  Drawer          0.648          1.061          1.020          0              270            0
  78  Drawer          0.648          0.843          1.020          0              270            0
  79  SideTable       0.975          0.220          0.869          0              270            0
  80  Drawer          0.648          0.602          0.680          0              270            0
  81  Drawer          0.648          0.596          1.020          0              270            0
  82  Drawer          0.648          0.843          0.680          0              270            0
  83  Stool           0.606          0.222          -1.084         1.233          280.489        0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: Turn to the right and step forward to face the kitchen table. | STEP 2: Pick up the fork on the kitchen table. | STEP 3: Turn right and walk across the room to face the sink. | STEP 4: Put the fork in the sink, clean it, then pick it back up. | STEP 5: Turn around and walk across the room to face the black table the microwave is on. | STEP 6: Place the fork on the black table in front of the microwave. | END