Task: Put a clean fork onto the kitchen counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          2.0            0              90             0
   1  Potato          0.931          0.067          2.889          0              0              0              77
   2  Potato          -2.577         1.234          2.165          0              90             0              75
   3  DishSponge      -1.053         0.900          1.555          0              90             0              84
   4  Spatula         1.099          0.838          1.072          0              270            0              43
   5  Spoon           -2.030         0.700          3.632          0              90             0              55
   6  Fork            1.099          0.813          2.545          0              90             0              40
   7  Fork            -1.819         0.823          3.535          0              0              0              66
   8  Fork            0.650          0.823          2.285          0              90             0              48
   9  Egg             -1.909         0.733          3.816          0              0              0              78
  10  Bowl            -2.519         0.765          2.221          0              90             0              75
  11  Bowl            -2.678         1.605          2.333          0              90             0              75
  12  PepperShaker    1.024          0.819          1.072          0              0              0              43
  13  Mug             -1.109         0.940          1.203          0              0              0              84
  14  Apple           -0.789         0.961          1.555          0              90             0              84
  15  Plate           -2.707         0.826          3.331          0              0              0              66
  16  Fork            -1.185         0.901          1.452          0              90             0              84
  17  Bread           0.822          0.878          2.445          355.041        0              5.183          43
  18  Spatula         0.650          0.838          1.072          0              270            0              43
  19  PaperTowelRoll  1.099          0.927          2.198          0              0              0              48
  20  Potato          -2.577         1.234          2.277          0              90             0              75
  21  SoapBottle      -0.524         0.900          0.937          0              90             0              84
  22  Egg             -2.492         0.859          3.256          0              0              0              66
  23  Cup             -2.709         1.398          3.897          0              0              0              57
  24  Pot             0.913          0.850          1.375          0              0              0              42
  25  SaltShaker      -0.657         0.896          1.555          0              90             0              84
  26  Pan             -2.667         0.812          3.74           0              137.145        0              66
  27  PepperShaker    -1.317         0.896          1.349          0              90             0              84
  28  ButterKnife     -0.921         0.900          1.349          0              90             0              84
  29  Tomato          0.875          0.891          2.111          0              0              0              48
  30  DishSponge      -2.463         1.634          3.025          0              0              0              62
  31  Lettuce         -0.580         0.956          1.358          31.822         0              0              84
  32  Spoon           -2.851         0.824          3.554          0              0              0              66
  33  Apple           -2.577         1.252          2.446          0              90             0              75
  34  Knife           0.940          0.836          2.548          1.553          181.480        354.152        48
  35  Mug             -2.744         1.602          2.109          0              90             0              75
  36  Bowl            -2.501         1.396          3.858          0              0              0              41
  37  Drawer          0.729          0.703          2.199          0              0              0
  38  Cabinet         -1.962         1.926          3.733          0              0              0
  39  Cabinet         -2.377         2.014          1.058          0              0              0
  40  Drawer          0.729          0.703          2.532          0              0              0
  41  Cabinet         -2.622         1.925          3.733          0              0              0
  42  StoveBurner     0.913          0.843          1.375          0              0              0
  43  CounterTop      0.864          0.858          0.984          0              0              0
  44  Cabinet         -1.976         1.779          3.734          0              0              0
  45  Cabinet         0.580          0.385          0.819          0              0              0
  46  Cabinet         -2.379         1.408          1.677          0              0              0
  47  Cabinet         -0.419         1.703          3.736          0              0              0
  48  CounterTop      0.864          0.858          2.371          0              0              0
  49  Sink            -1.702         0.726          3.828          0              180            0
  50  Cabinet         0.580          0.385          2.694          0              0              0
  51  Cabinet         -2.379         0.637          1.677          0              0              0
  52  Cabinet         -0.419         0.674          3.736          0              0              0
  53  Cabinet         -2.377         2.014          2.558          0              0              0
  54  Drawer          0.729          0.703          0.980          0              0              0
  55  Drawer          -2.114         0.706          3.657          0              0              0
  56  Cabinet         -2.377         1.691          2.572          0              0              0
  57  Cabinet         -2.951         1.925          3.733          0              0              0
  58  Cabinet         0.580          0.385          2.360          0              0              0
  59  Cabinet         -2.426         0.435          3.421          0              0              0
  60  StoveBurner     0.642          0.843          1.375          0              0              0
  61  Cabinet         -2.377         1.927          1.686          0              0              0
  62  Cabinet         -2.377         2.013          3.177          0              0              0
  63  Cabinet         -1.136         0.385          3.516          0              0              0
  64  StoveBurner     0.913          0.843          1.768          0              0              0
  65  Cabinet         -1.974         0.385          3.516          0              0              0
  66  CounterTop      -2.081         0.858          3.799          0              0              0
  67  Cabinet         -2.426         0.435          3.174          0              0              0
  68  Cabinet         -2.377         2.014          1.693          0              0              0
  69  Cabinet         -1.986         0.385          3.511          0              0              0
  70  StoveBurner     0.642          0.843          1.768          0              0              0
  71  Cabinet         -1.098         1.926          3.729          0              0              0
  72  Microwave       -1.529         1.250          3.881          1.622          180            0
  73  CoffeeMachine   1.000          0.812          2.492          0              270            0
  74  LightSwitch     0.825          1.396          4.082          0              180            0
  75  Fridge          -2.642         0.0            2.134          0              180            0
  76  Window          -1.131         1.673          0.808          90             0              0
  77  GarbageCan      0.931          -0.000         2.918          0              0              0
  78  SinkBasin       -1.601         0.686          3.774          0              0              0
  79  StoveKnob       1.104          1.002          1.886          0              0              70.346
  80  StoveKnob       1.104          1.002          1.733          0              0              70.346
  81  StoveKnob       1.104          1.002          1.321          0              0              70.346
  82  StoveKnob       1.104          1.002          1.481          0              0              70.346
  83  Toaster         -2.247         0.812          3.862          0              180            0
  84  DiningTable     -0.917         -0.000         1.203          0              0              0
  85  Stool           -0.932         0.000          1.404          1.196          21.715         0
  86  Faucet          -1.842         0.809          3.984          0              180            0
  87  Faucet          -1.371         0.809          3.985          0              180            0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Turn around and begin waking towards the fridge, then hang right and walk up to the kitchen sink. | STEP 2: Pick up the metal fork in front of the kitchen sink. | STEP 3: Place the fork inside the smaller kitchen sink basin that is on the left, then turn on the water to the sink with the fork in it, after a few seconds turn the water off and remove the fork. | STEP 4: Turn around, walk forward briefly, then turn back around and walk up to the kitchen sink on the left. | STEP 5: Place the metal fork back on the kitchen counter in front of the leftmost sink where you found. | END