Task: Put a martini glass containing a fork in the kitchen sink.

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          -3.75          0              0              0
   1  Pencil          -2.096         0.923          -1.884         0              0              0              82
   2  Pencil          -0.449         0.747          -3.297         0              270            0              68
   3  Pen             -2.438         0.926          -2.115         0              0              0              82
   4  Pen             -2.780         0.926          -0.963         0              0              0              82
   5  Potato          -1.881         0.058          -3.763         0              0              0              73
   6  ButterKnife     -2.438         0.923          -1.884         0              0              0              82
   7  WineBottle      -0.508         0.916          -2.764         0              0              0              57
   8  Spatula         -2.324         0.938          -1.193         0              0              0              82
   9  Knife           -2.324         0.946          -1.423         0              0              0              82
  10  Plate           -2.780         0.925          -2.345         0              0              0              82
  11  Plate           -0.421         0.083          -3.267         0              0              0              63
  12  Cup             -0.246         1.097          -0.979         0              270            0              74
  13  Cup             -0.343         1.389          -0.455         0              270            0              74
  14  Cup             -2.666         0.922          -1.884         0              0              0              82
  15  Egg             -0.392         1.131          -0.979         0              270            0              74
  16  Egg             -2.210         0.956          -1.654         0              0              0              82
  17  Tomato          -0.295         1.454          -1.084         0              270            0              74
  18  Bowl            -0.343         1.389          -0.77          0              270            0              74
  19  Lettuce         -0.600         1.008          -3.626         0              0              0              57
  20  Lettuce         -2.552         1.016          -1.423         0              0              0              82
  21  Bread           -0.308         1.743          -0.560         0              270            0              74
  22  SaltShaker      -0.747         0.078          -3.545         0              0              0              61
  23  SaltShaker      -0.067         0.912          -2.301         0              0              0              57
  24  PepperShaker    -0.436         0.912          -2.563         0              0              0              57
  25  PepperShaker    -2.096         0.919          -2.115         0              0              0              82
  26  Apple           -2.006         0.100          -3.799         0              0              0              73
  27  Apple           -0.815         0.989          -3.555         0              0              0              57
  28  Lettuce         -2.562         1.002          -1.677         36.385         0              0              82
  29  Glassbottle     -2.780         0.924          -1.654         0              0              0              82
  30  Egg             -1.943         0.059          -3.690         0              0              0              73
  31  Pen             -2.438         0.926          -1.654         0              0              0              82
  32  Fork            -2.666         0.924          -1.193         0              0              0              82
  33  SoapBottle      -0.293         0.914          -3.570         0              0              0              57
  34  Pencil          -0.749         0.746          -3.586         0              270            0              56
  35  WineBottle      -2.552         0.924          -0.963         0              0              0              82
  36  Spatula         -2.324         0.938          -2.345         0              0              0              82
  37  Bread           -0.343         1.151          -0.665         0              270            0              74
  38  Tomato          -0.302         0.861          -2.008         0              270            0              75
  39  Pan             -2.174         0.913          -1.099         0              0              0              82
  40  Cup             -0.186         1.526          -3.125         0              0              0              69
  41  Pot             -1.515         0.935          -3.497         0              0              0              54
  42  SaltShaker      -2.438         0.919          -0.963         0              0              0              82
  43  Potato          -0.222         0.947          -2.563         0              0              0              57
  44  PepperShaker    -2.552         0.919          -1.193         0              0              0              82
  45  ButterKnife     -2.324         0.923          -1.193         0              90             0              82
  46  DishSponge      -0.422         0.080          -2.293         0              0              0              62
  47  Spoon           -2.210         0.924          -2.345         0              90             0              82
  48  Plate           -2.780         0.925          -1.423         0              0              0              82
  49  Knife           -2.269         0.920          -2.143         90             315            0              82
  50  Mug             -0.351         0.962          -3.144         0              270            0              71
  51  Bowl            -1.309         1.629          -3.870         0              0              0              70
  52  Cabinet         -0.582         0.388          -1.804         0              0              0
  53  StoveBurner     -1.515         0.928          -3.752         0              90             0
  54  StoveBurner     -1.515         0.928          -3.497         0              0              0
  55  StoveBurner     -1.129         0.928          -3.498         0              0              0
  56  Drawer          -0.749         0.779          -3.551         0              0              0
  57  CounterTop      -0.303         0.951          -2.793         0              0              0
  58  Cabinet         -0.883         2.140          -3.687         0              0              0
  59  Cabinet         -0.312         2.140          -1.543         0              0              0
  60  Sink            -0.349         0.907          -2.014         0              0              0
  61  Cabinet         -0.877         0.388          -3.422         0              0              0
  62  Cabinet         -0.582         0.388          -2.197         0              0              0
  63  Cabinet         -0.584         0.388          -3.396         0              0              0
  64  Cabinet         -0.312         2.140          -2.481         0              0              0
  65  Cabinet         -0.330         1.921          -3.390         0              0              0
  66  Cabinet         -1.764         2.140          -3.687         0              0              0
  67  StoveBurner     -1.129         0.928          -3.752         0              90             0
  68  Drawer          -0.454         0.779          -3.268         0              0              0
  69  Cabinet         -0.302         1.916          -2.501         0              0              0
  70  Microwave       -1.317         1.517          -3.801         0              1.440          0
  71  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  72  LightSwitch     -4.323         1.319          0.0            0              180            0
  73  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  74  Fridge          -0.330         0.0            -0.769         0              270            0
  75  SinkBasin       -0.350         0.786          -2.018         0              270            0
  76  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  77  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  78  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  79  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  80  Toaster         -0.181         0.903          -2.764         0              270            0
  81  Window          -2.503         1.782          -4.185         90             180            0
  82  DiningTable     -2.432         0.000          -1.694         0              270            0
  83  Shelf           -2.432         0.150          -1.694         0              270            0
  84  Blinds          -2.536         2.699          -3.959         0              0              0
  85  Faucet          -0.079         0.904          -2.034         270            180            0
  86  Chair           -3.264         0.002          -2.094         0              53.280         0
  87  Chair           -3.240         0.002          -1.253         0              117.257        0
  88  Shelf           -2.432         0.523          -1.694         0              270            0
  89  NorthWall
  90  EastWall
  91  SouthWall
  92  WestWall

Plan:
STEP 1: Walk to the end of the room and make a right at the door, then stop when you are beside the kitchen island.  | STEP 2: Pick up the fork that is on the kitchen island, between the plate and the salt that is laying on it's side.  | STEP 3: Turn and walk towards the door and make a left just before you reach it, then walk go to the kitchen island, between the two chairs.  | STEP 4: Place the fork in the Martini glass.  | STEP 5: Pick up the Martini glass with the fork inside it.  | STEP 6: Walk to your right, then go left, around the kitchen island, to the kitchen sink. | STEP 7: Place the Martini glass with the fork inside it, in the sink.  | END