Task: Put a goblet with a fork in it on a table.

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          -3.5           0              180            0
   1  Glassbottle     -0.460         0.082          -2.247         0              0              0              58
   2  Pen             -2.552         0.926          -1.654         0              0              0              78
   3  Potato          -1.204         1.661          -3.936         0              0              0              66
   4  DishSponge      -1.601         1.969          -3.773         0              0              0              62
   5  DishSponge      -0.720         0.746          -3.556         0              0              0              52
   6  ButterKnife     -0.365         0.915          -3.771         0              0              0              53
   7  ButterKnife     -2.324         0.923          -1.884         0              0              0              78
   8  Pot             -1.129         0.935          -3.498         0              0              0              51
   9  Spatula         -2.324         0.938          -1.654         0              0              0              78
  10  Fork            -2.438         0.924          -1.193         0              0              0              78
  11  Fork            -2.096         0.924          -1.884         0              90             0              78
  12  Fork            -0.528         0.916          -3.555         0              0              0              53
  13  Plate           -0.460         0.083          -1.849         0              0              0              48
  14  Cup             -1.048         1.968          -3.890         0              0              0              54
  15  Cup             -0.180         1.969          -1.663         0              0              0              55
  16  Cup             -0.350         0.796          -1.934         0              270            0              71
  17  Egg             -0.441         1.131          -0.665         0              270            0              70
  18  Egg             -0.343         1.423          -0.455         0              270            0              70
  19  Bowl            -2.780         0.922          -2.345         0              0              0              78
  20  Lettuce         -2.324         1.016          -1.423         0              0              0              78
  21  Lettuce         -0.457         1.008          -3.768         0              0              0              53
  22  SaltShaker      -0.391         0.743          -3.208         0              0              0              64
  23  Apple           -0.343         1.464          -1.084         0              270            0              70
  24  Lettuce         -0.743         1.008          -3.697         0              0              0              53
  25  Glassbottle     -0.460         0.082          -2.109         0              0              0              58
  26  Egg             -0.350         0.830          -2.229         0              270            0              71
  27  Pen             -2.096         0.926          -1.423         0              0              0              78
  28  Fork            -2.210         0.924          -2.345         0              0              0              78
  29  SoapBottle      -2.780         0.922          -1.654         0              0              0              78
  30  Pencil          -1.975         0.027          -3.799         0              0              0              69
  31  WineBottle      -2.006         0.027          -3.727         0              0              0              69
  32  Spatula         -2.666         0.938          -1.423         0              180            0              78
  33  Bread           -0.295         1.151          -0.770         0              270            0              70
  34  Tomato          -0.295         1.454          -0.874         0              270            0              70
  35  Pan             -2.174         0.913          -1.099         0              0              0              78
  36  Cup             -1.549         1.968          -3.928         0              0              0              62
  37  Pot             -1.515         0.935          -3.497         0              0              0              50
  38  SaltShaker      -0.508         0.743          -3.208         0              0              0              64
  39  Potato          -2.438         0.954          -0.963         0              0              0              78
  40  PepperShaker    -0.230         1.966          -2.363         0              0              0              60
  41  ButterKnife     -2.438         0.923          -1.423         0              0              0              78
  42  DishSponge      -1.912         0.026          -3.763         0              0              0              69
  43  Spoon           -0.302         0.798          -1.860         0              0              0              71
  44  Plate           -2.780         0.925          -1.193         0              0              0              78
  45  Knife           -2.438         0.946          -0.963         0              180            0              78
  46  Mug             -0.388         1.685          -1.084         0              270            0              70
  47  Bowl            -2.666         0.922          -2.115         0              0              0              78
  48  Cabinet         -0.582         0.388          -1.804         0              0              0
  49  StoveBurner     -1.515         0.928          -3.752         0              90             0
  50  StoveBurner     -1.515         0.928          -3.497         0              0              0
  51  StoveBurner     -1.129         0.928          -3.498         0              0              0
  52  Drawer          -0.749         0.779          -3.551         0              0              0
  53  CounterTop      -0.303         0.951          -2.793         0              0              0
  54  Cabinet         -0.883         2.140          -3.687         0              0              0
  55  Cabinet         -0.312         2.140          -1.543         0              0              0
  56  Sink            -0.349         0.907          -2.014         0              0              0
  57  Cabinet         -0.877         0.388          -3.422         0              0              0
  58  Cabinet         -0.582         0.388          -2.197         0              0              0
  59  Cabinet         -0.584         0.388          -3.396         0              0              0
  60  Cabinet         -0.312         2.140          -2.481         0              0              0
  61  Cabinet         -0.330         1.921          -3.390         0              0              0
  62  Cabinet         -1.764         2.140          -3.687         0              0              0
  63  StoveBurner     -1.129         0.928          -3.752         0              90             0
  64  Drawer          -0.454         0.779          -3.268         0              0              0
  65  Cabinet         -0.302         1.916          -2.501         0              0              0
  66  Microwave       -1.317         1.517          -3.801         0              1.440          0
  67  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  68  LightSwitch     -4.323         1.319          0.0            0              180            0
  69  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  70  Fridge          -0.330         0.0            -0.769         0              270            0
  71  SinkBasin       -0.350         0.786          -2.018         0              270            0
  72  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  73  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  74  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  75  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  76  Toaster         -0.181         0.903          -2.764         0              270            0
  77  Window          -2.503         1.782          -4.185         90             180            0
  78  DiningTable     -2.432         0.000          -1.694         0              270            0
  79  Shelf           -2.432         0.150          -1.694         0              270            0
  80  Blinds          -2.536         2.699          -3.959         0              0              0
  81  Faucet          -0.079         0.904          -2.034         270            180            0
  82  Chair           -3.264         0.002          -2.094         0              53.280         0
  83  Chair           -3.240         0.002          -1.253         0              117.257        0
  84  Shelf           -2.432         0.523          -1.694         0              270            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Turn left and walk to the left side of the stove. | STEP 2: Take the fork off the counter. | STEP 3: turn around and walk to the sink on the right. | STEP 4: Put the fork in the goblet that's in the sink. | STEP 5: Pick up the goblet. | STEP 6: Turn around. | STEP 7: Put the goblet on the table to the left of the fork. | END