Task: Place a clean fork on a dirty plate

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          0.914          3.0            0              180            0
   1  Pan             -0.556         0.985          3.926          0              90             0              73
   2  DishSponge      -3.097         0.744          1.356          0              0              0              48
   3  DishSponge      -3.081         0.915          1.607          0              0              0              56
   4  WineBottle      -3.195         0.082          3.088          0              0              0              60
   5  WineBottle      -1.127         0.892          -0.053         0              90             0              83
   6  Spatula         -2.905         0.930          4.214          0              270            0              47
   7  Spoon           -0.994         0.898          -0.053         0              90             0              83
   8  Spoon           -3.272         0.916          3.499          0              90             0              47
   9  Fork            -1.259         0.892          0.049          0              180            0              83
  10  Pot             -3.424         0.966          1.971          0              0              0              55
  11  Egg             -0.673         1.576          4.033          0              180            0              73
  12  Egg             -1.666         0.824          3.625          0              0              0              77
  13  Cup             -1.857         0.789          3.662          0              0              0              77
  14  Cup             -3.463         0.915          1.106          0              0              0              56
  15  Knife           -1.391         0.915          0.049          0              90             0              83
  16  Bowl            -1.127         0.890          0.152          0              90             0              83
  17  SaltShaker      -1.523         0.887          0.152          0              90             0              83
  18  PepperShaker    -3.126         0.742          1.279          0              0              0              48
  19  PepperShaker    -3.126         0.741          1.433          0              0              0              48
  20  Bread           -0.323         1.067          3.863          0              180            0              73
  21  Mug             -3.426         0.945          3.275          0              90             0              47
  22  Apple           -1.666         0.849          3.737          0              0              0              77
  23  Apple           -1.224         0.146          3.788          0              270            0              79
  24  Egg             -1.985         0.824          3.774          0              0              0              77
  25  Knife           -3.368         0.939          1.189          0              90             0              56
  26  Fork            -1.523         0.892          0.255          0              90             0              83
  27  Bread           -0.089         1.067          4.051          0              180            0              73
  28  Potato          -0.089         0.755          3.869          0              180            0              73
  29  Plate           -1.259         0.895          0.461          0              90             0              83
  30  Pot             -3.424         0.966          2.374          0              0              0              53
  31  Kettle          -1.787         0.892          0.358          0              90             0              83
  32  WineBottle      -1.523         0.892          0.461          0              90             0              83
  33  Bowl            -0.994         0.890          0.358          0              90             0              83
  34  Tomato          -1.655         0.960          0.564          0              90             0              83
  35  Cup             -3.505         1.546          2.172          0              90             0              78
  36  Spatula         -3.081         0.930          1.440          0              0              0              56
  37  SoapBottle      -3.471         1.454          3.429          0              0              0              64
  38  Lettuce         -1.759         0.974          0.085          0              0              0              83
  39  Pan             -2.614         0.902          3.620          0              0              0              47
  40  Apple           -2.905         0.975          3.890          0              0              0              47
  41  SaltShaker      -1.504         0.911          4.062          0              0              0              47
  42  PepperShaker    -3.186         0.742          3.326          0              0              0              57
  43  ButterKnife     -3.176         0.915          1.524          0              0              0              56
  44  DishSponge      -3.272         0.915          1.607          0              0              0              56
  45  Spoon           -3.463         0.916          1.440          0              0              0              56
  46  Mug             -3.559         0.910          1.273          0              0              0              56
  47  CounterTop      -3.381         0.950          3.335          0              0              0
  48  Drawer          -3.121         0.775          1.357          0              0              0
  49  Drawer          -3.121         0.777          2.916          0              0              0
  50  StoveBurner     -3.148         0.958          2.374          0              0              0
  51  Sink            -1.797         0.917          3.660          0              0              0
  52  Cabinet         -1.421         0.388          3.459          0              0              0
  53  StoveBurner     -3.424         0.958          2.374          0              0              0
  54  Cabinet         -3.365         1.931          2.676          0              0              0
  55  StoveBurner     -3.424         0.958          1.971          0              0              0
  56  CounterTop      -3.381         0.951          1.356          0              0              0
  57  Drawer          -3.121         0.781          3.295          0              0              0
  58  Cabinet         -2.205         0.388          3.459          0              0              0
  59  Cabinet         -2.963         0.388          3.459          0              0              0
  60  Cabinet         -2.992         0.388          2.683          0              0              0
  61  Cabinet         -3.352         2.205          1.715          0              0              0
  62  Cabinet         -3.352         2.205          2.653          0              0              0
  63  Cabinet         -2.189         0.388          3.466          0              0              0
  64  Cabinet         -3.365         1.931          3.963          0              0              0
  65  Cabinet         -3.365         1.931          1.056          0              0              0
  66  Cabinet         -2.992         0.388          1.037          0              0              0
  67  StoveBurner     -3.143         0.958          1.971          0              0              0
  68  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  69  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  70  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  71  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  72  Toaster         -2.654         0.902          4.064          0              180            0
  73  Fridge          -0.439         0.014          3.996          0              0              0
  74  LightSwitch     0.25           1.383          2.085          0              270            0
  75  Window          -1.430         1.338          -0.347         90             0              0
  76  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  77  SinkBasin       -1.802         0.778          3.700          0              0              0
  78  Microwave       -3.484         1.430          2.182          0              90             0
  79  GarbageCan      -1.184         -0.020         3.794          0              270            0
  80  Blinds          -1.404         2.092          -0.296         0              0              0
  81  Stool           -1.373         0.014          1.048          1.214          20.754         0
  82  Faucet          -1.788         0.903          3.931          270            90             0
  83  DiningTable     -1.399         0.010          0.238          0              0              0
  84  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Turn right and take a step, then turn left and cross the room, then turn left and face the side of the table | STEP 2: Pick up the fork that is sitting on the table above the knife | STEP 3: Head to the sink that is on your left | STEP 4: Place the fork in the sink  behind the cup and apple and turn on the faucet. Turn off the faucet and pick up the fork | STEP 5: Turn right and cross the room, then left and cross the room, the turn to face the side of the white table | STEP 6: Place the fork on the table on top of the dirty, black plate | END