Task: Putting a fork in a bowl onto a counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.908          3.25           0              180            0
   1  Potato          -1.149         1.681          0.680          0              90             0              91
   2  CellPhone       -1.012         0.747          2.830          0              0              0              52
   3  ButterKnife     1.367          0.886          2.584          0              90             0              103
   4  ButterKnife     -1.105         0.749          2.087          0              0              0              52
   5  Glassbottle     1.293          2.155          0.957          0              0              0              61
   6  WineBottle      1.286          0.912          -0.144         0              0              0              71
   7  WineBottle      1.450          0.887          2.369          0              0              0              103
   8  Kettle          -0.985         1.657          -0.786         0              0              0              58
   9  Spoon           -0.658         0.913          -0.589         0              0              0              77
  10  Spoon           1.367          0.880          2.584          0              180            353.869        103
  11  Fork            1.365          0.912          0.139          0              0              0              71
  12  Fork            -1.197         0.750          1.902          0              0              0              52
  13  Spatula         1.207          0.926          0.706          0              180            0              71
  14  Spatula         -1.105         0.763          3.015          0              0              0              52
  15  Egg             -0.038         0.946          -0.933         0              0              0              77
  16  Cup             -1.149         0.750          0.883          0              90             0              91
  17  Cup             -0.020         0.757          -0.691         0              0              0              98
  18  Knife           1.200          0.908          2.153          0              0              0              103
  19  Tomato          1.049          0.961          0.706          0              0              0              71
  20  SoapBottle      1.262          0.117          1.119          0              0              0              92
  21  SoapBottle      1.414          0.087          1.440          0              0              0              92
  22  Bowl            -1.132         0.115          0.248          0              180            0              74
  23  Lettuce         1.365          0.982          0.706          0              0              0              71
  24  SaltShaker      0.927          2.151          -0.819         0              0              0              55
  25  Mug             0.103          0.753          -0.533         0              0              0              98
  26  Bread           1.069          0.935          2.683          0              0              0              103
  27  Glassbottle     -1.294         1.656          -0.166         0              0              0              59
  28  Fork            1.245          0.875          2.505          0              333.480        0              103
  29  Kettle          -1.290         0.749          2.459          0              0              0              52
  30  Tomato          -1.130         0.391          1.197          0              90             0              91
  31  Plate           1.174          0.117          -0.011         0              0              0              65
  32  CellPhone       1.523          0.909          0.706          0              0              0              71
  33  Lettuce         1.284          0.957          2.369          0              0              0              103
  34  Pot             0.502          0.939          -0.740         0              90             0              78
  35  SoapBottle      1.088          0.117          0.694          0              0              0              63
  36  WineBottle      1.365          0.912          -0.428         0              0              0              71
  37  Spatula         -1.290         0.764          2.644          0              0              0              52
  38  Bowl            -1.012         0.748          2.459          0              0              0              52
  39  Apple           -1.149         0.811          1.197          0              90             0              91
  40  Cup             -1.361         1.014          -0.057         0              90             0              97
  41  Knife           -0.919         0.771          2.644          0              90             0              52
  42  Egg             -1.149         1.671          1.289          0              90             0              91
  43  SaltShaker      -1.290         0.745          2.830          0              0              0              52
  44  PepperShaker    1.450          0.882          2.477          0              0              0              103
  45  Potato          -1.149         1.333          0.988          0              90             0              91
  46  ButterKnife     1.128          0.911          0.422          0              0              0              71
  47  DishSponge      -0.919         0.749          1.902          0              0              0              52
  48  Pan             -1.332         0.9            -0.699         0              345.0          0              77
  49  Spoon           -1.105         0.750          2.273          0              0              0              52
  50  SprayBottle     -0.314         0.911          -0.359         0              0              0              77
  51  Mug             1.215          0.943          -0.633         0              320.314        0              90
  52  DiningTable     -1.182         0.006          2.414          0              90             0
  53  Cabinet         1.184          2.059          0.375          0              0              0
  54  Cabinet         1.184          2.059          -0.635         0              0              0
  55  Cabinet         0.591          2.309          -0.645         0              0              0
  56  Cabinet         -0.574         2.059          -0.644         0              0              0
  57  Cabinet         -1.103         2.059          -0.644         0              0              0
  58  Cabinet         -1.185         2.059          -0.331         0              0              0
  59  Cabinet         -1.185         2.059          -0.281         0              0              0
  60  Cabinet         -1.185         2.059          0.375          0              0              0
  61  Cabinet         1.184          2.309          1.174          0              0              0
  62  Cabinet         1.184          2.309          0.424          0              0              0
  63  Cabinet         0.988          0.402          0.581          0              0              0
  64  Cabinet         0.988          0.402          0.531          0              0              0
  65  Cabinet         0.988          0.402          -0.178         0              0              0
  66  Cabinet         0.335          0.402          -0.348         0              0              0
  67  Cabinet         -0.374         0.402          -0.348         0              0              0
  68  Cabinet         0.988          0.402          1.231          0              0              0
  69  Cabinet         -1.185         2.309          1.374          0              0              0
  70  Cabinet         -1.185         2.309          0.424          0              0              0
  71  CounterTop      1.274          0.947          0.064          0              0              0
  72  Drawer          1.116          0.792          -0.015         0              0              0
  73  Drawer          -1.116         0.792          0.210          0              180            0
  74  Cabinet         -0.990         0.402          0.374          0              180            0
  75  Drawer          -1.116         0.792          -0.170         0              180            0
  76  Cabinet         -0.990         0.402          -0.335         0              180            0
  77  CounterTop      -1.001         0.947          -0.669         0              0              0
  78  StoveBurner     0.502          0.932          -0.740         0              90             0
  79  StoveBurner     0.801          0.932          -0.473         0              0              0
  80  StoveBurner     0.801          0.932          -0.740         0              90             0
  81  Drawer          1.116          0.792          1.081          0              0              0
  82  Sink            -0.013         0.912          -0.615         0              0              0
  83  Drawer          1.116          0.792          0.732          0              0              0
  84  StoveBurner     0.502          0.932          -0.469         0              0              0
  85  Drawer          1.116          0.792          0.367          0              0              0
  86  StoveKnob       0.550          1.085          -0.912         287.970        180            0
  87  StoveKnob       0.884          1.085          -0.912         287.970        180            0
  88  StoveKnob       0.432          1.085          -0.912         287.970        180            0
  89  StoveKnob       0.777          1.085          -0.912         287.970        180            0
  90  CoffeeMachine   1.304          0.900          -0.741         0              320.314        0
  91  Fridge          -1.300         0.008          0.987          0              90             0
  92  GarbageCan      1.296          -0.024         1.465          0              0              0
  93  Window          -0.012         1.641          -0.972         90             0              0
  94  Window          1.598          1.646          2.489          90             270            0
  95  Toaster         1.356          0.900          1.044          0              270            0
  96  LightSwitch     0.118          1.353          3.799          0              180            0
  97  Microwave       -1.343         0.900          0.053          0              90             0
  98  SinkBasin       -0.029         0.748          -0.612         0              0              0
  99  Faucet          -0.026         0.927          -0.808         0              0              0
 100  Shelf           -1.182         0.127          2.414          0              90             0
 101  Stool           1.140          0.007          3.262          1.206          20.753         0
 102  Shelf           -1.182         0.435          2.414          0              90             0
 103  DiningTable     1.169          0.014          2.569          0              0              1.896
 104  NorthWall
 105  EastWall
 106  SouthWall
 107  WestWall

Plan:
STEP 1: Walk to the white table that is on your right. | STEP 2: Grab the fork that is on the left side of the table | STEP 3: Move slightly to the right | STEP 4: Put the fork into the bowl on the table | STEP 5: Grab the bowl with the fork inside | STEP 6: Turn left and walk to the counter that's to the right of the sink | STEP 7: Place the bowl on the right side of the counter | END