Task: Place a chalice containing a fork on top of a dishwasher

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.901          1.0            0              180            0
   1  Potato          -0.297         1.044          0.171          0              0              0              77
   2  Potato          -0.143         0.926          3.133          0              0              0              81
   3  DishSponge      -2.892         0.900          1.913          0              0              0              79
   4  DishSponge      -2.883         0.053          0.317          0              26.101         0              72
   5  ButterKnife     -1.904         0.928          0.433          0              0              0              58
   6  ButterKnife     -2.864         0.935          3.209          0              0              0              65
   7  Spatula         -0.380         0.677          0.519          0              270            0              47
   8  Fork            -1.007         0.796          0.337          0              0              0              76
   9  Fork            -1.266         0.796          0.337          0              0              0              76
  10  Egg             -2.901         0.087          0.453          0              26.101         0              72
  11  Cup             -0.143         0.900          3.334          0              0              0              81
  12  Cup             -2.789         0.900          2.573          0              0              0              79
  13  Cup             -0.191         1.018          0.203          0              0              0              77
  14  Plate           -2.191         1.777          0.160          0              0              0              54
  15  Knife           -2.628         0.961          3.302          0              0              0              65
  16  Knife           -0.486         0.926          3.334          0              0              0              81
  17  Bowl            -2.583         0.897          2.309          0              0              0              79
  18  Bowl            -2.892         0.897          2.177          0              0              0              79
  19  PepperShaker    -0.572         0.896          2.329          0              0              0              81
  20  PepperShaker    -0.572         0.896          3.133          0              0              0              81
  21  Lettuce         -0.657         0.980          3.334          0              0              0              81
  22  Lettuce         -0.400         0.980          2.731          0              180            0              81
  23  Mug             -2.888         0.627          4.204          0              90             0              75
  24  Apple           -0.403         1.079          0.203          0              0              0              77
  25  Apple           -2.583         0.956          2.573          0              0              0              79
  26  Egg             -2.847         0.665          4.501          0              90             0              75
  27  Plate           -0.194         1.777          0.251          0              0              0              57
  28  Fork            -2.628         0.936          3.580          0              0              0              65
  29  Bread           -0.314         0.957          2.329          0              0              0              81
  30  Apple           -2.925         0.355          4.501          0              90             0              75
  31  Lettuce         -2.805         1.266          4.575          0              90             0              75
  32  Spatula         -1.352         0.943          0.650          0              0              0              58
  33  Knife           -0.400         0.926          2.329          0              0              0              81
  34  Potato          -2.691         0.325          4.501          0              90             0              75
  35  Tomato          -2.722         0.696          4.575          0              90             0              75
  36  Cup             -2.686         0.900          2.706          0              0              0              79
  37  SaltShaker      -2.628         0.931          3.766          0              0              0              65
  38  PepperShaker    -0.164         0.658          0.409          0              0              0              47
  39  ButterKnife     -2.323         0.662          0.464          0              0              0              66
  40  SoapBottle      -0.143         0.900          2.530          0              0              0              81
  41  Pan             -0.535         0.928          4.274          0              0              0              62
  42  DishSponge      -0.272         0.661          0.519          0              0              0              47
  43  Pot             -2.476         0.889          2.050          0              0              0              79
  44  Spoon           -2.892         0.901          2.706          0              0              0              79
  45  Mug             -2.778         1.001          3.714          0              90             0              78
  46  Bowl            -2.377         0.897          2.573          0              0              0              79
  47  Drawer          -0.325         0.696          0.413          0              0              0
  48  Cabinet         -0.595         0.490          0.648          0              0              0
  49  Cabinet         -0.555         0.490          0.646          0              0              0
  50  Cabinet         -1.591         0.490          0.646          0              0              0
  51  Cabinet         -1.554         0.490          0.646          0              0              0
  52  Cabinet         -2.550         0.490          0.646          0              0              0
  53  Cabinet         -1.514         2.046          0.392          0              0              0
  54  Cabinet         -2.474         2.046          0.392          0              0              0
  55  Cabinet         -1.478         2.046          0.392          0              0              0
  56  Cabinet         -0.518         2.046          0.392          0              0              0
  57  Cabinet         -0.479         2.046          0.392          0              0              0
  58  CounterTop      -1.366         0.952          0.349          0              0              0
  59  Sink            -1.108         0.926          0.340          0              0              0
  60  StoveBurner     -0.254         0.922          4.672          0              0              0
  61  Drawer          -1.824         0.696          0.413          0              0              0
  62  StoveBurner     -0.535         0.922          4.274          0              0              0
  63  StoveBurner     -0.254         0.922          4.274          0              0              0
  64  StoveBurner     -0.536         0.922          4.672          0              0              0
  65  CounterTop      -2.780         0.971          3.487          0              0              0
  66  Drawer          -2.323         0.696          0.413          0              0              0
  67  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  68  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  69  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  70  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  71  Toaster         -0.286         0.861          3.520          0              270            0
  72  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  73  LightSwitch     -0.064         1.447          1.996          0              270            0
  74  Window          -3.075         1.593          1.361          90             90             0
  75  Fridge          -2.802         0.0            4.427          0              0              0
  76  SinkBasin       -1.106         0.785          0.337          0              0              0
  77  Microwave       -0.358         0.917          0.224          0              0              0
  78  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  79  DiningTable     -2.733         -0.003         2.607          0              270            0
  80  Faucet          -1.077         0.920          0.028          270            270            0
  81  DiningTable     -0.488         -0.003         3.182          0              270            0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: Turn around and head across the room, take a left at the toaster then walk to the dishwasher on the left of the fridge | STEP 2: Pick up the fork that is sitting on the dishwasher in front of the coffee machine | STEP 3: Take a step to the left and face the right corner of the white table to the left of the dishwasher | STEP 4: Place the fork in the chalice that's on the right.  The one that is slightly close to you | STEP 5: Pick up the chalice that contains the fork | STEP 6: Turn right and walk to the dishwasher and turn left to face the dishwasher | STEP 7: Place the chalice on top the dishwasher to the left of the coffee machine and right of the knife | END