Task: Gathering the dirty dishes and putting them 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           -2.75          0.900          1.5            0              0              0
   1  Potato          1.029          0.941          -0.729         0              0              0              57
   2  Potato          -0.846         0.963          0.239          0              0              0              56
   3  CellPhone       0.793          0.150          -0.611         0              270            0              59
   4  CellPhone       1.199          0.908          0.139          0              0              0              57
   5  DishSponge      1.039          2.207          -1.191         0              270            0              63
   6  DishSponge      0.754          0.494          -0.607         0              270            0              60
   7  ButterKnife     -0.624         0.933          -1.231         0              0              0              56
   8  ButterKnife     -1.167         0.933          0.144          0              0              0              56
   9  Fork            -0.697         0.777          -0.745         0              0              0              77
  10  Fork            -1.104         0.934          -0.118         0              0              0              56
  11  Spoon           -0.753         0.781          -0.573         0              90             0              77
  12  Pot             1.077          0.950          -1.504         0              0              0              52
  13  Cup             -1.571         0.879          2.773          0              0              0              83
  14  Tomato          -1.007         0.217          0.608          0              180            0              76
  15  Tomato          -0.587         0.821          -0.573         0              90             0              77
  16  SoapBottle      1.055          1.666          -2.029         0              270            0              55
  17  SoapBottle      1.056          1.666          -0.593         0              270            0              65
  18  Bowl            1.082          2.211          -1.626         0              270            0              63
  19  PepperShaker    0.713          0.150          -0.729         0              270            0              59
  20  Lettuce         0.905          0.940          1.349          0              270            0              79
  21  Bread           -1.292         1.014          -0.118         0              0              0              56
  22  Statue          0.773          0.914          -0.555         0              180            0              57
  23  Glassbottle     1.055          1.667          -2.302         0              270            0              55
  24  Bread           1.114          0.992          -0.208         0              0              0              57
  25  CreditCard      0.773          0.908          -0.208         0              0              0              57
  26  CellPhone       -1.167         0.930          -1.430         0              0              0              56
  27  Potato          -0.912         0.209          0.510          0              180            0              76
  28  Knife           0.773          0.934          -1.879         0              270            0              62
  29  Fork            -0.624         0.934          0.315          0              0              0              56
  30  Pan             0.848          0.946          -1.080         0              0              0              50
  31  Lettuce         0.688          0.988          -1.879         0              0              0              62
  32  Plate           -1.881         0.557          2.667          0              0              0              82
  33  Apple           1.148          1.452          1.540          0              270            0              79
  34  Pot             0.859          0.914          -0.034         0              0              0              57
  35  Spatula         0.944          0.926          -0.729         0              90             0              57
  36  PaperTowelRoll  -1.985         0.658          2.822          0              0              0              82
  37  Tomato          -0.920         0.974          -1.618         0              0              0              56
  38  Egg             -0.772         0.971          -1.154         0              0              0              56
  39  SaltShaker      -1.881         0.550          2.822          0              0              0              82
  40  PepperShaker    0.688          0.907          -0.381         0              0              0              57
  41  Vase            -1.423         0.169          2.621          0              0              0              82
  42  ButterKnife     -0.846         0.933          -0.143         0              0              0              56
  43  SoapBottle      0.862          0.121          0.374          0              270            0              51
  44  Vase            -1.355         0.934          -1.167         0              0              0              56
  45  Bowl            0.966          1.138          0.967          0              270            0              79
  46  DishSponge      -0.772         0.933          -1.308         0              0              0              56
  47  Spoon           0.875          0.495          -0.648         0              270            0              60
  48  Cup             1.029          0.908          -0.555         0              0              0              57
  49  Mug             0.905          1.129          1.444          0              270            0              79
  50  StoveBurner     0.842          0.919          -1.098         0              0              0
  51  Cabinet         0.648          0.474          0.244          0              270            0
  52  StoveBurner     1.077          0.919          -1.504         0              0              0
  53  StoveBurner     0.842          0.919          -1.504         0              0              0
  54  Drawer          0.637          0.755          -0.649         0              270            0
  55  Cabinet         0.949          2.159          -2.375         0              270            0
  56  CounterTop      -1.238         0.968          -0.643         0              0              0
  57  CounterTop      0.931          0.946          -0.208         0              0              0
  58  StoveBurner     1.077          0.919          -1.098         0              0              0
  59  Drawer          0.637          0.268          -0.649         0              270            0
  60  Drawer          0.637          0.547          -0.649         0              270            0
  61  Cabinet         0.648          0.475          -1.714         0              0              0
  62  CounterTop      0.931          0.946          -2.051         0              0              0
  63  Cabinet         0.948          2.439          -1.780         0              270            0
  64  Cabinet         0.948          2.159          -0.140         0              270            0
  65  Cabinet         0.949          2.159          -0.758         0              270            0
  66  Sink            -0.699         0.927          -0.649         0              0              0
  67  LightSwitch     -2.371         1.218          3.049          0              180            0
  68  StoveKnob       0.673          0.899          -1.373         315            90             180
  69  StoveKnob       0.673          0.899          -1.519         315            90             180
  70  StoveKnob       0.673          0.899          -1.086         315            90             180
  71  StoveKnob       0.673          0.899          -1.237         315            90             180
  72  Toaster         0.984          0.900          0.329          0              270            0
  73  Window          0.014          0.998          -2.640         90             0              0
  74  Window          -2.996         0.998          -2.640         90             0              0
  75  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  76  GarbageCan      -0.946         -0.036         0.575          0              180            0
  77  SinkBasin       -0.698         0.765          -0.647         0              90             0
  78  Microwave       1.042          1.680          -1.295         0              270            0
  79  Fridge          0.966          0.0            1.253          0              0              0
  80  HousePlant      -1.354         0.919          -1.540         0              0              0
  81  Shelf           -1.635         0.172          2.715          0              180            0
  82  Shelf           -1.635         0.552          2.715          0              180            0
  83  Shelf           -1.635         0.880          2.715          0              180            0
  84  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  85  Chair           -1.832         0.002          -0.034         0              119.999        0
  86  Chair           -1.854         0.002          -0.956         0              67.887         0
  87  Faucet          -0.867         1.161          -0.651         0              0              0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Walk straight and then make a turn to the right | STEP 2: Walk over to the sink  | STEP 3: Grab the fork from the sink | STEP 4: Carry it over to the counter | STEP 5: Place the fork inside the green cup | STEP 6: Go back to the kitchen sink | STEP 7: Place the green cup and the fork in the sink | END