Task: Put a cup with a fork on it on the 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           0.75           0.900          1.0            0              180            0
   1  Spoon           -2.257         0.775          -0.121         0              90             0              57
   2  Spoon           -2.379         0.774          0.486          0              90             0              56
   3  Spatula         0.683          0.925          -1.625         0              90             0              49
   4  Pot             1.691          0.929          0.064          0              0              0              50
   5  Pot             1.411          0.929          0.064          0              0              0              68
   6  Egg             1.372          0.949          -1.150         0              225            0              53
   7  Tomato          1.604          0.227          0.706          0              0              0              78
   8  Tomato          0.914          0.953          -1.534         0              45             0              49
   9  SoapBottle      -2.677         1.539          1.912          0              0              0              51
  10  Bowl            1.735          1.660          -0.622         0              0              0              59
  11  PepperShaker    -2.609         1.928          -1.092         0              0              0              60
  12  SaltShaker      -2.605         1.532          1.119          0              0              0              52
  13  Bread           1.428          0.996          -0.726         0              0              0              53
  14  Apple           -2.439         1.362          -0.790         0              90             0              71
  15  Apple           -2.466         0.656          -1.051         0              90             0              71
  16  Pan             0.0            0.9            0.948          0              29.999         0              39
  17  Knife           -2.196         0.798          0.952          0              270            0              44
  18  Apple           -2.513         0.656          -0.872         0              90             0              71
  19  Bowl            1.771          1.653          0.313          0              0              0              58
  20  Fork            1.283          0.919          -1.169         0              45             0              53
  21  Bread           -2.485         1.175          -0.790         0              90             0              71
  22  Plate           1.735          1.666          -0.335         0              0              0              59
  23  Egg             -2.613         0.209          -1.123         0              90             0              71
  24  Kettle          0.301          1.664          -1.729         0              90             0              46
  25  Potato          1.294          0.954          -1.018         0              225            0              53
  26  SaltShaker      -2.567         1.933          -0.353         0              0              0              61
  27  Lettuce         1.113          0.832          -1.433         0              320.104        37.408         77
  28  Cup             1.469          0.916          -1.193         0              225            0              53
  29  SoapBottle      -2.599         1.539          1.768          0              0              0              51
  30  Spatula         -2.348         0.788          0.070          0              270            0              57
  31  PaperTowelRoll  1.266          1.015          -0.851         0              45             0              53
  32  ButterKnife     1.439          0.9            0.432          0              0              0              48
  33  PepperShaker    1.881          0.905          -0.930         0              0              0              49
  34  DishSponge      -2.273         0.114          -0.023         0              0              0              55
  35  Pot             1.691          0.929          -0.335         0              0              0              47
  36  Spoon           1.599          0.912          -0.726         0              0              0              49
  37  Tomato          1.729          0.227          0.651          0              0              0              78
  38  Mug             -2.570         0.992          2.380          0              0              0              79
  39  CounterTop      -0.360         0.946          1.093          0              0              0
  40  StoveBurner     1.412          0.923          -0.335         0              0              0
  41  StoveKnob       1.878          1.093          0.018          287.989        90             0
  42  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  43  Cabinet         -2.446         1.948          2.924          0              0              0
  44  Drawer          -2.276         0.792          0.902          0              0              0
  45  Cabinet         -2.145         0.402          1.578          0              0              0
  46  Cabinet         0.149          2.008          -1.603         0              90             0
  47  StoveBurner     1.691          0.923          -0.335         0              0              0
  48  CounterTop      1.585          0.946          0.405          0              0              0
  49  CounterTop      0.474          0.946          -1.625         0              0              0
  50  StoveBurner     1.691          0.923          0.064          0              0              0
  51  Cabinet         -2.446         1.948          1.687          0              0              0
  52  Cabinet         -2.446         1.948          1.640          0              0              0
  53  Sink            1.381          0.810          -1.271         0              225            0
  54  StoveKnob       1.878          1.093          0.150          287.989        90             0
  55  Cabinet         -2.145         0.402          -0.236         0              0              0
  56  Drawer          -2.276         0.792          0.437          0              0              0
  57  Drawer          -2.276         0.792          -0.027         0              0              0
  58  Cabinet         1.572          2.008          0.474          0              0              0
  59  Cabinet         1.572          2.008          -0.775         0              0              0
  60  Cabinet         -2.445         2.148          -1.275         0              0              0
  61  Cabinet         -2.446         2.148          -0.284         0              0              0
  62  Cabinet         -2.446         1.948          0.355          0              0              0
  63  Cabinet         -2.446         1.948          0.405          0              0              0
  64  Cabinet         -2.145         0.402          0.644          0              0              0
  65  Cabinet         -2.145         0.402          0.695          0              0              0
  66  Cabinet         -2.285         1.968          -1.325         0              180            0
  67  CounterTop      -1.485         0.946          1.319          0              0              0
  68  StoveBurner     1.411          0.923          0.064          0              0              0
  69  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  70  Drawer          -2.276         0.792          1.368          0              0              0
  71  Fridge          -2.475         0.0            -0.782         0              90             0
  72  LightSwitch     -0.929         1.350          -1.950         0              0              0
  73  Toaster         -2.564         0.900          1.876          0              90             0
  74  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  75  Window          1.508          1.534          -1.496         90             135            0
  76  Window          1.973          1.521          1.121          90             90             0
  77  SinkBasin       1.149          0.753          -1.380         0              225            0
  78  GarbageCan      1.646          -0.000         0.679          0              0              0
  79  Microwave       -2.580         0.900          2.440          0              90             0
  80  Stool           0.439          0.010          0.747          0              0              0
  81  Stool           -2.303         0.010          1.839          0              0              0
  82  Faucet          1.235          1.138          -1.473         0              225            0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Walk forwards and then face left towards the kitchen counter | STEP 2: Pick up a cup off of the draining board | STEP 3: Move to your right and face the coffee maker | STEP 4: Set the cup down on the counter to the right of the coffee maker | STEP 5: Turn back to your left | STEP 6: Pick up a fork off of the draining board | STEP 7: Turn back to facing the coffee maker | STEP 8: Put the fork inside the cup | END