Task: Place a clean fork on the counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.0           0.900          -2.75          0              90             0
   1  Pencil          -2.780         0.923          -1.654         0              0              0              83
   2  Pencil          -0.478         0.747          -3.297         0              270            0              69
   3  Potato          -0.348         1.722          -1.084         0              270            0              75
   4  Potato          -2.210         0.954          -1.884         0              0              0              83
   5  DishSponge      -0.499         0.080          -2.109         0              0              0              63
   6  WineBottle      -0.383         0.082          -2.293         0              0              0              63
   7  WineBottle      -0.343         1.531          -3.520         0              45             0              66
   8  Pot             -2.666         0.922          -2.345         0              0              0              83
   9  Fork            -2.210         0.924          -2.115         0              270            0              83
  10  Fork            -2.438         0.924          -1.423         0              0              0              83
  11  Fork            -2.666         0.924          -1.193         0              0              0              83
  12  Spoon           -2.666         0.924          -1.884         0              0              0              83
  13  Spoon           -2.096         0.924          -1.423         0              0              0              83
  14  Knife           -2.666         0.946          -2.115         0              0              0              83
  15  Tomato          -2.552         0.987          -1.884         0              0              0              83
  16  Tomato          -0.295         1.162          -0.770         0              270            0              75
  17  Bowl            -2.666         0.922          -1.654         0              0              0              83
  18  Bowl            -0.421         0.080          -3.267         0              0              0              64
  19  Lettuce         -0.308         1.783          -0.665         0              270            0              75
  20  Bread           -0.343         1.151          -0.979         0              270            0              75
  21  SaltShaker      -0.235         1.524          -3.230         0              0              0              70
  22  SaltShaker      -0.420         0.743          -3.267         0              0              0              69
  23  PepperShaker    -0.067         0.912          -2.301         0              0              0              58
  24  PepperShaker    -2.324         0.919          -1.654         0              0              0              83
  25  Mug             -1.048         1.964          -3.773         0              0              0              59
  26  Apple           -1.309         1.703          -3.903         0              0              0              71
  27  Apple           -0.228         1.764          -0.979         0              270            0              75
  28  Apple           -1.943         0.100          -3.727         0              0              0              74
  29  Lettuce         -0.743         1.008          -3.555         0              0              0              58
  30  Glassbottle     -0.383         0.082          -2.109         0              0              0              63
  31  Egg             -0.295         1.423          -0.874         0              270            0              75
  32  Pen             -2.210         0.926          -1.654         0              0              0              83
  33  Fork            -2.438         0.924          -0.963         0              0              0              83
  34  SoapBottle      -2.780         0.922          -1.423         0              0              0              83
  35  Pencil          -2.438         0.923          -1.884         0              0              0              83
  36  WineBottle      -2.438         0.924          -1.654         0              0              0              83
  37  Spatula         -2.210         0.938          -1.423         0              0              0              83
  38  Bread           -0.415         0.952          -3.625         0              0              0              58
  39  Tomato          -0.295         1.454          -0.770         0              270            0              75
  40  Pan             -2.174         0.913          -1.099         0              0              0              83
  41  Cup             -0.186         1.526          -2.809         0              0              0              70
  42  Pot             -1.515         0.935          -3.497         0              0              0              55
  43  SaltShaker      -0.809         0.078          -3.701         0              0              0              62
  44  Potato          -0.392         1.422          -0.560         0              270            0              75
  45  PepperShaker    -0.690         0.743          -3.527         0              0              0              57
  46  ButterKnife     -2.552         0.923          -2.115         0              0              0              83
  47  DishSponge      -1.443         1.969          -3.890         0              0              0              67
  48  Spoon           -2.324         0.924          -2.345         0              0              0              83
  49  Plate           -2.096         0.925          -1.654         0              0              0              83
  50  Knife           -0.671         0.938          -3.485         0              180            0              58
  51  Mug             -0.383         0.076          -1.804         0              0              0              53
  52  Bowl            -2.438         0.922          -1.193         0              0              0              83
  53  Cabinet         -0.582         0.388          -1.804         0              0              0
  54  StoveBurner     -1.515         0.928          -3.752         0              90             0
  55  StoveBurner     -1.515         0.928          -3.497         0              0              0
  56  StoveBurner     -1.129         0.928          -3.498         0              0              0
  57  Drawer          -0.749         0.779          -3.551         0              0              0
  58  CounterTop      -0.303         0.951          -2.793         0              0              0
  59  Cabinet         -0.883         2.140          -3.687         0              0              0
  60  Cabinet         -0.312         2.140          -1.543         0              0              0
  61  Sink            -0.349         0.907          -2.014         0              0              0
  62  Cabinet         -0.877         0.388          -3.422         0              0              0
  63  Cabinet         -0.582         0.388          -2.197         0              0              0
  64  Cabinet         -0.584         0.388          -3.396         0              0              0
  65  Cabinet         -0.312         2.140          -2.481         0              0              0
  66  Cabinet         -0.330         1.921          -3.390         0              0              0
  67  Cabinet         -1.764         2.140          -3.687         0              0              0
  68  StoveBurner     -1.129         0.928          -3.752         0              90             0
  69  Drawer          -0.454         0.779          -3.268         0              0              0
  70  Cabinet         -0.302         1.916          -2.501         0              0              0
  71  Microwave       -1.317         1.517          -3.801         0              1.440          0
  72  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  73  LightSwitch     -4.323         1.319          0.0            0              180            0
  74  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  75  Fridge          -0.330         0.0            -0.769         0              270            0
  76  SinkBasin       -0.350         0.786          -2.018         0              270            0
  77  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  78  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  79  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  80  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  81  Toaster         -0.181         0.903          -2.764         0              270            0
  82  Window          -2.503         1.782          -4.185         90             180            0
  83  DiningTable     -2.432         0.000          -1.694         0              270            0
  84  Shelf           -2.432         0.150          -1.694         0              270            0
  85  Blinds          -2.536         2.699          -3.959         0              0              0
  86  Faucet          -0.079         0.904          -2.034         270            180            0
  87  Chair           -3.264         0.002          -2.094         0              53.280         0
  88  Chair           -3.240         0.002          -1.253         0              117.257        0
  89  Shelf           -2.432         0.523          -1.694         0              270            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Look down and walk to the table to your right, to where a yellow plate sits. | STEP 2: Grab the fork on the table. | STEP 3: Turn around, walk straight to the sink and look down. | STEP 4: Place the fork inside the sink, wash it and remove it. | STEP 5: With the fork, turn to your right and look up. | STEP 6: Place the clean fork on the counter to your left. | END