Task: clean up forks and put them into 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           -1.0           0.900          -0.25          0              270            0
   1  Glassbottle     -2.666         0.924          -1.884         0              0              0              84
   2  Pen             -2.096         0.926          -1.654         0              0              0              84
   3  Pen             -2.552         0.926          -2.115         0              0              0              84
   4  Potato          -1.362         1.661          -3.936         0              0              0              72
   5  DishSponge      -0.995         1.969          -3.812         0              0              0              60
   6  DishSponge      -0.302         0.796          -1.934         0              270            0              77
   7  Pot             -1.129         0.935          -3.498         0              0              0              57
   8  Fork            -2.324         0.924          -0.963         0              0              0              84
   9  Fork            -2.210         0.924          -2.345         0              0              0              84
  10  Knife           -0.671         0.938          -3.485         0              180            0              59
  11  Cup             -2.210         0.922          -1.654         0              0              0              84
  12  Cup             -1.362         1.629          -3.837         0              0              0              72
  13  Egg             -1.151         1.663          -3.903         0              0              0              72
  14  Egg             -2.552         0.956          -0.963         0              0              0              84
  15  SoapBottle      -0.293         0.914          -3.368         0              0              0              59
  16  SoapBottle      -0.385         0.914          -3.839         0              0              0              59
  17  Tomato          -0.398         0.861          -1.934         0              270            0              77
  18  Tomato          -0.228         1.754          -0.874         0              270            0              76
  19  Bowl            -0.743         0.914          -3.555         0              0              0              59
  20  Bowl            -0.295         1.097          -0.979         0              270            0              76
  21  Lettuce         -0.343         1.191          -0.665         0              270            0              76
  22  SaltShaker      -0.391         0.743          -3.267         0              0              0              70
  23  SaltShaker      -2.780         0.919          -2.115         0              0              0              84
  24  PepperShaker    -0.749         0.742          -3.527         0              0              0              58
  25  PepperShaker    -0.422         0.077          -1.666         0              0              0              64
  26  Mug             -0.138         1.522          -2.914         0              0              0              71
  27  Mug             -0.351         0.962          -3.144         0              270            0              73
  28  Apple           -1.912         0.100          -3.727         0              0              0              75
  29  Apple           -2.552         0.996          -1.193         0              0              0              84
  30  Lettuce         -2.562         1.002          -1.677         36.385         0              0              84
  31  Glassbottle     -0.421         0.081          -3.236         0              0              0              65
  32  Egg             -1.151         1.663          -3.837         0              0              0              72
  33  Pen             -2.780         0.926          -0.963         0              0              0              84
  34  Fork            -2.552         0.924          -2.345         0              0              0              84
  35  SoapBottle      -2.780         0.922          -1.654         0              0              0              84
  36  Pencil          -2.438         0.923          -2.345         0              0              0              84
  37  WineBottle      -0.747         0.083          -3.506         0              0              0              63
  38  Spatula         -2.324         0.938          -1.423         0              180            0              84
  39  Bread           -0.392         1.443          -0.560         0              270            0              76
  40  Tomato          -2.780         0.987          -1.193         0              0              0              84
  41  Pan             -2.174         0.913          -1.099         0              0              0              84
  42  Cup             -2.666         0.922          -1.423         0              0              0              84
  43  Pot             -1.515         0.935          -3.497         0              0              0              56
  44  SaltShaker      -2.438         0.919          -1.193         0              0              0              84
  45  Potato          -1.943         0.058          -3.835         0              0              0              75
  46  PepperShaker    -0.508         0.743          -3.297         0              0              0              70
  47  ButterKnife     -2.666         0.923          -2.115         0              90             0              84
  48  DishSponge      -1.496         1.969          -3.851         0              0              0              68
  49  Spoon           -0.600         0.916          -3.839         0              0              0              59
  50  Plate           -2.438         0.925          -1.423         0              0              0              84
  51  Knife           -2.666         0.946          -0.963         0              180            0              84
  52  Mug             -1.259         1.964          -3.890         0              90             0              60
  53  Bowl            -0.295         1.389          -0.874         0              270            0              76
  54  Cabinet         -0.582         0.388          -1.804         0              0              0
  55  StoveBurner     -1.515         0.928          -3.752         0              90             0
  56  StoveBurner     -1.515         0.928          -3.497         0              0              0
  57  StoveBurner     -1.129         0.928          -3.498         0              0              0
  58  Drawer          -0.749         0.779          -3.551         0              0              0
  59  CounterTop      -0.303         0.951          -2.793         0              0              0
  60  Cabinet         -0.883         2.140          -3.687         0              0              0
  61  Cabinet         -0.312         2.140          -1.543         0              0              0
  62  Sink            -0.349         0.907          -2.014         0              0              0
  63  Cabinet         -0.877         0.388          -3.422         0              0              0
  64  Cabinet         -0.582         0.388          -2.197         0              0              0
  65  Cabinet         -0.584         0.388          -3.396         0              0              0
  66  Cabinet         -0.312         2.140          -2.481         0              0              0
  67  Cabinet         -0.330         1.921          -3.390         0              0              0
  68  Cabinet         -1.764         2.140          -3.687         0              0              0
  69  StoveBurner     -1.129         0.928          -3.752         0              90             0
  70  Drawer          -0.454         0.779          -3.268         0              0              0
  71  Cabinet         -0.302         1.916          -2.501         0              0              0
  72  Microwave       -1.317         1.517          -3.801         0              1.440          0
  73  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  74  LightSwitch     -4.323         1.319          0.0            0              180            0
  75  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  76  Fridge          -0.330         0.0            -0.769         0              270            0
  77  SinkBasin       -0.350         0.786          -2.018         0              270            0
  78  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  79  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  80  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  81  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  82  Toaster         -0.181         0.903          -2.764         0              270            0
  83  Window          -2.503         1.782          -4.185         90             180            0
  84  DiningTable     -2.432         0.000          -1.694         0              270            0
  85  Shelf           -2.432         0.150          -1.694         0              270            0
  86  Blinds          -2.536         2.699          -3.959         0              0              0
  87  Faucet          -0.079         0.904          -2.034         270            180            0
  88  Chair           -3.264         0.002          -2.094         0              53.280         0
  89  Chair           -3.240         0.002          -1.253         0              117.257        0
  90  Shelf           -2.432         0.523          -1.694         0              270            0
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: turn left then walk straight towards the stove then turn right towards the table | STEP 2: pick up the fork near the edge of the table | STEP 3: turn right and walk straight then turn right again and walk straight towards the sink | STEP 4: put the fork down into the sink | STEP 5: turn left then walk straight then turn left again and then turn right at the wall then left again then walk straight and turn left at the edge of the green table | STEP 6: pick up the fork off of the edge of the table | STEP 7: turn left then walk to the end of the table then turn right and walk straight then turn left again and walk towards the sink | STEP 8: put the fork into the sink next to the other fork | END