Task: put a glass and fork on a kitchen counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.900          -3.0           0              270            0
   1  Pencil          -2.666         0.923          -1.654         0              0              0              77
   2  Pencil          -2.552         0.923          -1.423         0              0              0              77
   3  Pen             -2.438         0.926          -1.884         0              0              0              77
   4  Pen             -2.552         0.926          -1.884         0              0              0              77
   5  DishSponge      -2.438         0.923          -1.193         0              0              0              77
   6  WineBottle      -0.809         0.083          -3.506         0              0              0              56
   7  Fork            -2.666         0.924          -1.654         0              0              0              77
   8  Fork            -2.210         0.924          -1.423         0              0              0              77
   9  Cup             -1.496         1.968          -3.851         0              0              0              61
  10  SoapBottle      -0.186         1.526          -2.809         0              0              0              64
  11  SoapBottle      -1.943         0.025          -3.799         0              0              0              68
  12  Bowl            -0.295         1.097          -0.770         0              270            0              69
  13  Lettuce         -0.295         1.483          -0.560         0              270            0              69
  14  Lettuce         -0.743         1.008          -3.555         0              0              0              52
  15  SaltShaker      -0.747         0.078          -3.701         0              0              0              56
  16  SaltShaker      -2.552         0.919          -2.345         0              0              0              77
  17  PepperShaker    -0.690         0.743          -3.527         0              0              0              51
  18  Mug             -2.438         0.918          -0.963         0              0              0              77
  19  Mug             -0.351         0.962          -3.144         0              270            0              66
  20  Apple           -0.343         1.464          -1.084         0              270            0              69
  21  Apple           -2.438         0.996          -1.423         0              0              0              77
  22  Apple           -2.780         0.996          -1.654         0              0              0              77
  23  Lettuce         -2.780         1.016          -2.115         0              0              0              77
  24  Glassbottle     -0.222         0.916          -3.570         0              0              0              52
  25  Egg             -0.197         1.131          -0.979         0              270            0              69
  26  Pen             -0.365         0.918          -2.764         0              0              0              52
  27  Fork            -0.398         0.797          -1.934         0              180            0              70
  28  SoapBottle      -0.421         0.079          -3.267         0              0              0              58
  29  Pencil          -0.749         0.746          -3.527         0              90             0              51
  30  WineBottle      -0.422         0.082          -1.895         0              0              0              47
  31  Spatula         -0.3           0.915          -2.544         0              22.903         0              52
  32  Bread           -0.415         0.952          -3.625         0              0              0              52
  33  Tomato          -0.295         1.162          -1.084         0              270            0              69
  34  Pan             -2.174         0.913          -1.099         0              0              0              77
  35  Cup             -2.096         0.922          -2.115         0              0              0              77
  36  Pot             -1.515         0.935          -3.497         0              0              0              49
  37  SaltShaker      -0.293         0.912          -3.368         0              0              0              52
  38  Potato          -2.438         0.954          -2.115         0              0              0              77
  39  PepperShaker    -2.666         0.919          -2.345         0              0              0              77
  40  ButterKnife     -2.666         0.923          -1.193         0              0              0              77
  41  DishSponge      -2.780         0.923          -1.423         0              0              0              77
  42  Spoon           -0.350         0.798          -2.082         0              0              0              70
  43  Plate           -2.438         0.925          -1.654         0              0              0              77
  44  Knife           -2.666         0.946          -0.963         0              0              0              77
  45  Mug             -0.254         0.792          -2.008         0              270            0              70
  46  Bowl            -1.309         1.629          -3.870         0              0              0              65
  47  Cabinet         -0.582         0.388          -1.804         0              0              0
  48  StoveBurner     -1.515         0.928          -3.752         0              90             0
  49  StoveBurner     -1.515         0.928          -3.497         0              0              0
  50  StoveBurner     -1.129         0.928          -3.498         0              0              0
  51  Drawer          -0.749         0.779          -3.551         0              0              0
  52  CounterTop      -0.303         0.951          -2.793         0              0              0
  53  Cabinet         -0.883         2.140          -3.687         0              0              0
  54  Cabinet         -0.312         2.140          -1.543         0              0              0
  55  Sink            -0.349         0.907          -2.014         0              0              0
  56  Cabinet         -0.877         0.388          -3.422         0              0              0
  57  Cabinet         -0.582         0.388          -2.197         0              0              0
  58  Cabinet         -0.584         0.388          -3.396         0              0              0
  59  Cabinet         -0.312         2.140          -2.481         0              0              0
  60  Cabinet         -0.330         1.921          -3.390         0              0              0
  61  Cabinet         -1.764         2.140          -3.687         0              0              0
  62  StoveBurner     -1.129         0.928          -3.752         0              90             0
  63  Drawer          -0.454         0.779          -3.268         0              0              0
  64  Cabinet         -0.302         1.916          -2.501         0              0              0
  65  Microwave       -1.317         1.517          -3.801         0              1.440          0
  66  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  67  LightSwitch     -4.323         1.319          0.0            0              180            0
  68  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  69  Fridge          -0.330         0.0            -0.769         0              270            0
  70  SinkBasin       -0.350         0.786          -2.018         0              270            0
  71  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  72  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  73  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  74  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  75  Toaster         -0.181         0.903          -2.764         0              270            0
  76  Window          -2.503         1.782          -4.185         90             180            0
  77  DiningTable     -2.432         0.000          -1.694         0              270            0
  78  Shelf           -2.432         0.150          -1.694         0              270            0
  79  Blinds          -2.536         2.699          -3.959         0              0              0
  80  Faucet          -0.079         0.904          -2.034         270            180            0
  81  Chair           -3.264         0.002          -2.094         0              53.280         0
  82  Chair           -3.240         0.002          -1.253         0              117.257        0
  83  Shelf           -2.432         0.523          -1.694         0              270            0
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: walk through kitchen to face green kitchen island | STEP 2: pick up the fork closest to the front edge to the left of the frying pan on the green kitchen island | STEP 3: walk left to the left edge of green kitchen island | STEP 4: put fork into the champagne glass on the kitchen island | STEP 5: pick up the glass from the kitchen island | STEP 6: turn left to face the stove with the dishwasher on the left | STEP 7: place the glass on the counter above the dishwasher | END