Task: To put a fork on a plate and put the plate in the sink.

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          1.25           0              0              0
   1  Pan             -0.244         0.829          1.684          0              0              0              35
   2  Potato          -2.777         0.960          1.178          0              90             0              55
   3  DishSponge      -0.329         0.056          2.606          0              0              0              56
   4  DishSponge      -2.762         1.434          0.380          0              45             0              42
   5  Fork            -2.724         0.824          0.129          0              0              0              36
   6  Fork            -2.491         0.824          0.129          0              180            0              36
   7  Knife           -2.658         0.849          0.625          0              180            0              36
   8  Apple           -1.857         0.770          0.338          0              0              0              63
   9  Fork            -2.597         0.693          1.474          0              90             0              41
  10  Ladle           -2.609         0.165          1.550          0              0              0              47
  11  Pan             -2.781         0.824          2.045          0              180            0              54
  12  SoapBottle      -0.817         0.821          0.500          0              0              0              36
  13  Pot             -0.531         0.822          2.096          0              0              0              33
  14  Tomato          -2.840         0.873          0.278          0              0              0              36
  15  Potato          -2.877         0.960          1.337          0              90             0              55
  16  SaltShaker      -2.872         1.430          0.270          0              45             0              42
  17  Plate           -2.057         0.130          0.440          0              0              0              48
  18  Spatula         -0.341         0.696          1.194          0              45             0              32
  19  Knife           -1.374         0.849          0.528          0              0              0              36
  20  Egg             -0.477         0.847          1.326          0              0              0              36
  21  Cup             -1.407         0.125          0.362          0              0              0              49
  22  ButterKnife     -2.493         0.812          0.476          0              50.734         0              36
  23  Lettuce         -2.837         1.529          2.221          0              90             0              54
  24  PepperShaker    -2.491         0.818          0.278          0              0              0              36
  25  DishSponge      -1.637         0.124          0.401          0              0              0              49
  26  Bread           -0.979         0.855          0.249          0              29.999         0              36
  27  Spoon           -2.211         0.824          0.528          0              0              0              36
  28  Mug             -2.540         1.844          2.316          0              0              0              46
  29  Bowl            -0.400         0.820          1.103          0              0              0              36
  30  Cabinet         -2.377         2.015          1.720          0              0              0
  31  StoveBurner     -0.244         0.820          2.075          0              180            0
  32  Drawer          -0.402         0.703          1.252          0              0              0
  33  StoveBurner     -0.518         0.820          2.075          0              180            0
  34  Sink            -1.838         0.726          0.343          0              180            0
  35  StoveBurner     -0.244         0.820          1.684          0              0              0
  36  CounterTop      -1.557         0.859          0.277          0              0              0
  37  StoveBurner     -0.518         0.820          1.684          0              0              0
  38  Drawer          -0.404         0.704          0.912          0              0              0
  39  Drawer          -0.861         0.709          0.420          0              0              0
  40  Drawer          -1.133         0.706          0.418          0              0              0
  41  Drawer          -2.589         0.703          1.511          0              0              0
  42  Cabinet         -2.772         1.803          0.508          0              0              0
  43  Cabinet         -2.460         1.803          0.231          0              0              0
  44  Cabinet         -2.781         1.798          0.825          0              0              0
  45  Cabinet         -2.781         1.798          0.815          0              0              0
  46  Cabinet         -2.377         2.009          2.581          0              0              0
  47  Cabinet         -2.442         0.385          1.672          0              0              0
  48  Cabinet         -2.238         0.385          0.564          0              0              0
  49  Cabinet         -1.286         0.385          0.564          0              0              0
  50  Cabinet         -1.262         0.385          0.565          0              0              0
  51  Cabinet         -0.734         0.385          0.565          0              0              0
  52  Cabinet         -0.549         0.385          0.751          0              0              0
  53  Cabinet         -0.549         0.385          1.412          0              0              0
  54  Fridge          -2.782         0.0            2.221          0              0              0
  55  Microwave       -2.794         0.812          1.348          0              90             0
  56  GarbageCan      -0.329         2.205          2.606          0              0              0
  57  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  58  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  59  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  60  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  61  Window          -1.720         1.342          -0.208         90             0              0
  62  Toaster         -0.171         0.812          0.735          0              270            0
  63  SinkBasin       -1.745         0.687          0.295          0              0              0
  64  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  65  LightSwitch     -0.615         1.378          3.0            0              180            0
  66  Faucet          -1.686         0.954          0.176          0              236.223        0
  67  Stool           -1.008         0.008          1.955          0              18.279         0
  68  NorthWall
  69  EastWall
  70  SouthWall
  71  WestWall

Plan:
STEP 1: turn and walk to the right side of the sink.  | STEP 2: Pick up the fork behind the pepper mill on the counter.  | STEP 3: Look down at the cabinet below the sink.  | STEP 4: Open the cabinet door and place the fork on the plate.  | STEP 5: Pick up the plate from the cabinet.  | STEP 6: Walk over to the left side of the sink.  | STEP 7: Put the plate down in the sink.  | END