Task: put a washed fork onto a counter top

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          -2.5           0              180            0
   1  Glassbottle     -0.447         0.797          -2.155         0              270            0              68
   2  Pencil          -0.537         0.747          -3.297         0              270            0              61
   3  Potato          -1.309         1.661          -3.870         0              0              0              63
   4  DishSponge      -2.438         0.923          -0.963         0              0              0              75
   5  ButterKnife     -2.210         0.923          -1.423         0              0              0              75
   6  WineBottle      -2.324         0.924          -1.884         0              0              0              75
   7  WineBottle      -0.809         0.083          -3.506         0              0              0              54
   8  Pot             -1.129         0.935          -3.498         0              0              0              48
   9  Fork            -2.666         0.924          -2.115         0              0              0              75
  10  Fork            -2.438         0.924          -1.654         0              0              0              75
  11  Spoon           -0.350         0.798          -2.082         0              0              0              68
  12  Cup             -0.384         1.529          -3.617         0              45             0              58
  13  Cup             -2.210         0.922          -1.654         0              0              0              75
  14  SoapBottle      -2.096         0.922          -1.423         0              0              0              75
  15  SoapBottle      -0.499         0.079          -2.109         0              0              0              55
  16  Tomato          -0.343         1.162          -0.874         0              270            0              67
  17  Tomato          -0.815         0.979          -3.485         0              0              0              50
  18  SaltShaker      -0.671         0.912          -3.555         0              0              0              50
  19  PepperShaker    -0.422         0.077          -2.338         0              0              0              55
  20  Apple           -0.388         1.764          -1.084         0              270            0              67
  21  Lettuce         -2.666         1.016          -1.884         0              0              0              75
  22  Glassbottle     -0.508         0.916          -3.368         0              0              0              50
  23  Egg             -0.302         0.830          -1.934         0              270            0              68
  24  Pen             -0.457         0.918          -3.839         0              0              0              50
  25  Fork            -2.324         0.924          -1.423         0              0              0              75
  26  SoapBottle      -0.162         1.526          -2.914         0              0              0              62
  27  Pencil          -2.780         0.923          -1.654         0              0              0              75
  28  WineBottle      -0.671         0.916          -3.909         0              0              0              50
  29  Spatula         -2.438         0.938          -1.193         0              0              0              75
  30  Bread           -0.392         1.443          -0.665         0              270            0              67
  31  Tomato          -0.343         1.454          -0.874         0              270            0              67
  32  Pan             -2.174         0.913          -1.099         0              0              0              75
  33  Cup             -0.205         1.969          -1.663         0              0              0              52
  34  Pot             -1.515         0.935          -3.497         0              0              0              47
  35  SaltShaker      -0.344         0.077          -2.201         0              0              0              55
  36  Potato          -0.398         0.828          -1.934         0              270            0              68
  37  PepperShaker    -0.420         0.743          -3.208         0              0              0              61
  38  ButterKnife     -0.350         0.797          -2.008         0              270            0              68
  39  DishSponge      -1.975         0.026          -3.799         0              0              0              66
  40  Spoon           -0.815         0.916          -3.626         0              270            0              50
  41  Plate           -0.421         0.083          -3.267         0              0              0              56
  42  Knife           -2.438         0.946          -1.423         0              0              0              75
  43  Mug             -0.295         1.093          -1.084         0              270            0              67
  44  Bowl            -0.365         0.914          -3.570         0              0              0              50
  45  Cabinet         -0.582         0.388          -1.804         0              0              0
  46  StoveBurner     -1.515         0.928          -3.752         0              90             0
  47  StoveBurner     -1.515         0.928          -3.497         0              0              0
  48  StoveBurner     -1.129         0.928          -3.498         0              0              0
  49  Drawer          -0.749         0.779          -3.551         0              0              0
  50  CounterTop      -0.303         0.951          -2.793         0              0              0
  51  Cabinet         -0.883         2.140          -3.687         0              0              0
  52  Cabinet         -0.312         2.140          -1.543         0              0              0
  53  Sink            -0.349         0.907          -2.014         0              0              0
  54  Cabinet         -0.877         0.388          -3.422         0              0              0
  55  Cabinet         -0.582         0.388          -2.197         0              0              0
  56  Cabinet         -0.584         0.388          -3.396         0              0              0
  57  Cabinet         -0.312         2.140          -2.481         0              0              0
  58  Cabinet         -0.330         1.921          -3.390         0              0              0
  59  Cabinet         -1.764         2.140          -3.687         0              0              0
  60  StoveBurner     -1.129         0.928          -3.752         0              90             0
  61  Drawer          -0.454         0.779          -3.268         0              0              0
  62  Cabinet         -0.302         1.916          -2.501         0              0              0
  63  Microwave       -1.317         1.517          -3.801         0              1.440          0
  64  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  65  LightSwitch     -4.323         1.319          0.0            0              180            0
  66  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  67  Fridge          -0.330         0.0            -0.769         0              270            0
  68  SinkBasin       -0.350         0.786          -2.018         0              270            0
  69  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  70  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  71  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  72  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  73  Toaster         -0.181         0.903          -2.764         0              270            0
  74  Window          -2.503         1.782          -4.185         90             180            0
  75  DiningTable     -2.432         0.000          -1.694         0              270            0
  76  Shelf           -2.432         0.150          -1.694         0              270            0
  77  Blinds          -2.536         2.699          -3.959         0              0              0
  78  Faucet          -0.079         0.904          -2.034         270            180            0
  79  Chair           -3.264         0.002          -2.094         0              53.280         0
  80  Chair           -3.240         0.002          -1.253         0              117.257        0
  81  Shelf           -2.432         0.523          -1.694         0              270            0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: turn to face green kitchen island | STEP 2: pick up fork from the island | STEP 3: turn around to face sink | STEP 4: wash fork in sink, pick up fork from sink | STEP 5: turn to the right to face counter to the right of the sink | STEP 6: put the fork on the counter | END