Task: Place a cup with a fork in it on a counter top in a kitchen.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.900          1.5            0              90             0
   1  Potato          -2.504         0.862          0.462          0              0              0              47
   2  DishSponge      -0.329         0.056          2.640          0              0              0              67
   3  Fork            -0.296         0.697          0.875          0              90             0              49
   4  Fork            -2.724         0.824          0.129          0              0              0              47
   5  Spoon           -2.375         0.812          0.352          0              0              0              47
   6  Spoon           -1.105         0.699          0.377          0              90             0              51
   7  Egg             -2.837         1.469          2.045          0              90             0              65
   8  Cup             -1.481         0.702          0.295          0              0              0              74
   9  Cup             -2.837         1.445          2.309          0              90             0              65
  10  Plate           -2.724         1.439          0.288          0              45             0              53
  11  Plate           -2.671         0.829          2.133          0              90             0              65
  12  SoapBottle      -1.522         0.123          0.323          0              0              0              60
  13  Bowl            -2.609         0.118          1.550          0              0              0              58
  14  SaltShaker      -1.885         0.120          0.284          0              0              0              59
  15  SaltShaker      -2.377         1.431          0.059          0              0              0              54
  16  Mug             -0.092         0.818          1.214          0              0              0              47
  17  Mug             -2.810         0.916          1.178          0              90             0              66
  18  Apple           -0.362         0.129          2.539          0              0              0              67
  19  Apple           -2.671         1.518          2.221          0              90             0              65
  20  Fork            -1.214         0.813          0.498          0              0              0              47
  21  Ladle           -0.371         0.738          0.879          0              45             0              49
  22  Pan             -0.244         0.829          2.075          0              180            0              42
  23  SoapBottle      -0.817         0.821          0.129          0              0              0              47
  24  Pot             -0.531         0.822          2.096          0              0              0              44
  25  Tomato          -2.504         0.873          0.707          0              0              0              47
  26  Potato          -2.892         1.182          2.397          0              90             0              65
  27  SaltShaker      -1.580         0.120          0.479          0              0              0              60
  28  Plate           -2.587         0.813          0.309          0              0              0              47
  29  Spatula         -0.341         0.696          1.194          0              45             0              43
  30  Knife           -2.258         0.849          0.129          0              90             0              47
  31  Egg             -2.744         0.945          1.443          0              90             0              66
  32  Cup             -2.671         0.825          1.957          0              90             0              65
  33  ButterKnife     -2.493         0.812          0.476          0              50.734         0              47
  34  Lettuce         -1.836         0.741          0.238          0              55.910         0              74
  35  PepperShaker    -2.375         0.818          0.426          0              0              0              47
  36  DishSponge      -2.840         0.823          0.278          0              0              0              47
  37  Bread           -0.979         0.855          0.249          0              29.999         0              47
  38  Spoon           -2.563         0.693          1.511          0              0              0              52
  39  Mug             -2.858         1.430          0.640          0              0              0              56
  40  Bowl            -2.057         0.121          0.401          0              0              0              59
  41  Cabinet         -2.377         2.015          1.720          0              0              0
  42  StoveBurner     -0.244         0.820          2.075          0              180            0
  43  Drawer          -0.402         0.703          1.252          0              0              0
  44  StoveBurner     -0.518         0.820          2.075          0              180            0
  45  Sink            -1.838         0.726          0.343          0              180            0
  46  StoveBurner     -0.244         0.820          1.684          0              0              0
  47  CounterTop      -1.557         0.859          0.277          0              0              0
  48  StoveBurner     -0.518         0.820          1.684          0              0              0
  49  Drawer          -0.404         0.704          0.912          0              0              0
  50  Drawer          -0.861         0.709          0.420          0              0              0
  51  Drawer          -1.133         0.706          0.418          0              0              0
  52  Drawer          -2.589         0.703          1.511          0              0              0
  53  Cabinet         -2.772         1.803          0.508          0              0              0
  54  Cabinet         -2.460         1.803          0.231          0              0              0
  55  Cabinet         -2.781         1.798          0.825          0              0              0
  56  Cabinet         -2.781         1.798          0.815          0              0              0
  57  Cabinet         -2.377         2.009          2.581          0              0              0
  58  Cabinet         -2.442         0.385          1.672          0              0              0
  59  Cabinet         -2.238         0.385          0.564          0              0              0
  60  Cabinet         -1.286         0.385          0.564          0              0              0
  61  Cabinet         -1.262         0.385          0.565          0              0              0
  62  Cabinet         -0.734         0.385          0.565          0              0              0
  63  Cabinet         -0.549         0.385          0.751          0              0              0
  64  Cabinet         -0.549         0.385          1.412          0              0              0
  65  Fridge          -2.782         0.0            2.221          0              0              0
  66  Microwave       -2.794         0.812          1.348          0              90             0
  67  GarbageCan      -0.329         2.205          2.606          0              0              0
  68  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  69  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  70  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  71  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  72  Window          -1.720         1.342          -0.208         90             0              0
  73  Toaster         -0.171         0.812          0.735          0              270            0
  74  SinkBasin       -1.745         0.687          0.295          0              0              0
  75  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  76  LightSwitch     -0.615         1.378          3.0            0              180            0
  77  Faucet          -1.686         0.954          0.176          0              236.223        0
  78  Stool           -1.008         0.008          1.955          0              18.279         0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Turn right and walk to the sink. | STEP 2: Pick up the fork from the counter top by the sink. | STEP 3: Put the fork in the green cup which is in the left sink basin. | STEP 4: Pick the green cup out of the sink basin. | STEP 5: Walk to the counter top to the right of the sink. | STEP 6: Place the cup on the counter top, to the right of the large knife. | END