Task: Put a cup with a fork in it 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           1.25           0.900          1.0            0              90             0
   1  Pan             -2.455         0.910          1.530          0              90             0              70
   2  Potato          -2.621         0.947          1.230          0              0              0              70
   3  ButterKnife     -0.081         0.910          0.423          0              0              0              42
   4  ButterKnife     1.391          0.919          -1.061         0              225            0              56
   5  Kettle          -2.567         1.939          -0.465         0              0              0              65
   6  Spatula         -0.341         0.925          0.647          0              0              0              42
   7  Pot             -2.455         0.914          0.931          0              0              0              70
   8  Cup             -2.572         1.931          -0.976         0              0              0              63
   9  Tomato          -2.439         1.131          -0.790         0              90             0              74
  10  SoapBottle      1.734          1.658          0.165          0              0              0              61
  11  SoapBottle      -2.638         1.539          2.129          0              0              0              54
  12  Bowl            -2.411         1.580          -1.631         0              180            0              69
  13  PepperShaker    -0.211         0.905          1.094          0              0              0              42
  14  SaltShaker      -2.289         0.905          1.830          0              0              0              70
  15  Bread           -2.372         0.996          0.631          0              0              0              70
  16  Bread           0.048          0.996          1.540          0              0              0              42
  17  Mug             0.464          0.955          -1.593         0              0              0              52
  18  Apple           -0.341         0.972          1.540          0              0              0              42
  19  Pan             1.412          0.929          -0.335         0              0              0              43
  20  Knife           -2.227         0.798          1.417          0              270            0              73
  21  Apple           -2.374         0.656          -0.603         0              90             0              74
  22  Bowl            -2.532         1.297          -0.979         0              90             0              74
  23  Fork            -0.211         0.911          0.647          0              0              0              42
  24  Bread           -2.289         0.996          1.230          0              0              0              70
  25  Plate           1.735          1.666          -0.479         0              0              0              62
  26  Egg             -2.613         0.209          -0.459         0              90             0              74
  27  Kettle          -0.341         0.911          0.423          0              0              0              42
  28  Potato          1.646          0.221          0.651          0              0              0              81
  29  SaltShaker      1.598          0.906          0.376          0              90             0              51
  30  Lettuce         -0.341         0.994          1.317          0              0              0              42
  31  Cup             -2.237         0.112          -0.023         0              0              0              58
  32  SoapBottle      -2.599         1.539          0.485          0              0              0              66
  33  Spatula         1.221          0.933          -1.161         0              225            0              56
  34  PaperTowelRoll  1.341          1.015          0.465          0              0              0              51
  35  ButterKnife     1.291          0.918          -1.231         0              225            0              56
  36  PepperShaker    -2.567         1.933          -0.690         0              0              0              64
  37  DishSponge      -2.375         1.583          -1.485         0              180            0              69
  38  Pot             1.691          0.929          0.064          0              0              0              53
  39  Spoon           -2.372         0.912          1.230          0              0              0              70
  40  Tomato          -0.341         0.953          0.870          0              0              0              42
  41  Mug             0.822          0.905          -1.627         0              45             0              52
  42  CounterTop      -0.360         0.946          1.093          0              0              0
  43  StoveBurner     1.412          0.923          -0.335         0              0              0
  44  StoveKnob       1.878          1.093          0.018          287.989        90             0
  45  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  46  Cabinet         -2.446         1.948          2.924          0              0              0
  47  Drawer          -2.276         0.792          0.902          0              0              0
  48  Cabinet         -2.145         0.402          1.578          0              0              0
  49  Cabinet         0.149          2.008          -1.603         0              90             0
  50  StoveBurner     1.691          0.923          -0.335         0              0              0
  51  CounterTop      1.585          0.946          0.405          0              0              0
  52  CounterTop      0.474          0.946          -1.625         0              0              0
  53  StoveBurner     1.691          0.923          0.064          0              0              0
  54  Cabinet         -2.446         1.948          1.687          0              0              0
  55  Cabinet         -2.446         1.948          1.640          0              0              0
  56  Sink            1.381          0.810          -1.271         0              225            0
  57  StoveKnob       1.878          1.093          0.150          287.989        90             0
  58  Cabinet         -2.145         0.402          -0.236         0              0              0
  59  Drawer          -2.276         0.792          0.437          0              0              0
  60  Drawer          -2.276         0.792          -0.027         0              0              0
  61  Cabinet         1.572          2.008          0.474          0              0              0
  62  Cabinet         1.572          2.008          -0.775         0              0              0
  63  Cabinet         -2.445         2.148          -1.275         0              0              0
  64  Cabinet         -2.446         2.148          -0.284         0              0              0
  65  Cabinet         -2.446         1.948          0.355          0              0              0
  66  Cabinet         -2.446         1.948          0.405          0              0              0
  67  Cabinet         -2.145         0.402          0.644          0              0              0
  68  Cabinet         -2.145         0.402          0.695          0              0              0
  69  Cabinet         -2.285         1.968          -1.325         0              180            0
  70  CounterTop      -1.485         0.946          1.319          0              0              0
  71  StoveBurner     1.411          0.923          0.064          0              0              0
  72  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  73  Drawer          -2.276         0.792          1.368          0              0              0
  74  Fridge          -2.475         0.0            -0.782         0              90             0
  75  LightSwitch     -0.929         1.350          -1.950         0              0              0
  76  Toaster         -2.564         0.900          1.876          0              90             0
  77  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  78  Window          1.508          1.534          -1.496         90             135            0
  79  Window          1.973          1.521          1.121          90             90             0
  80  SinkBasin       1.149          0.753          -1.380         0              225            0
  81  GarbageCan      1.646          -0.000         0.679          0              0              0
  82  Microwave       -2.580         0.900          2.440          0              90             0
  83  Stool           0.439          0.010          0.747          0              0              0
  84  Stool           -2.303         0.010          1.839          0              0              0
  85  Faucet          1.235          1.138          -1.473         0              225            0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn around, then turn left, then turn right to face the kitchen island. | STEP 2: Pick up the fork on the kitchen island, next to the kettle. | STEP 3: Go around the kitchen island, then turn left to face the counter next to the fridge. | STEP 4: In the cabinet under the counter and next to the fridge, put the fork in the cup. | STEP 5: Pick up the cup in the cabinet. | STEP 6: Go around the kitchen island, then turn right to face the counter between the stove and the trash can. | STEP 7: Put the cup on the counter, next to the paper towel. | END