Task: Put a coffee cup with a fork in it on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          3.75           0              180            0
   1  Potato          0.273          1.132          0.245          0              0              0              67
   2  Potato          1.582          1.027          3.044          0              0              0              51
   3  ButterKnife     0.015          0.760          6.742          0              225            0              87
   4  Kettle          1.317          0.988          4.294          0              0              0              46
   5  Spoon           0.600          0.773          0.507          0              0              0              43
   6  Spatula         0.544          1.007          0.212          0              90             0              51
   7  Egg             2.009          1.565          6.001          0              270            0              73
   8  Bowl            0.622          1.578          0.295          0              0              0              65
   9  Bowl            -0.483         0.143          0.506          0              0              0              59
  10  PepperShaker    1.314          0.987          0.213          0              0              0              51
  11  SaltShaker      1.543          1.571          4.633          0              0              0              55
  12  Bread           0.150          0.829          6.479          0              270            0              87
  13  Lettuce         -0.378         0.848          6.698          0              135            0              87
  14  Apple           -0.312         0.834          6.479          0              270            0              87
  15  Apple           2.051          1.590          5.626          0              270            0              73
  16  Bowl            1.500          1.576          1.166          0              0              0              61
  17  Bread           1.099          1.048          0.434          0              0              0              51
  18  Egg             1.225          1.042          3.231          0              0              0              51
  19  Knife           0.668          0.802          0.507          0              180            0              43
  20  Fork            0.080          0.760          6.895          0              225            0              87
  21  Apple           1.314          1.067          3.511          0              0              0              51
  22  Kettle          1.562          0.988          3.848          0              0              0              45
  23  Plate           1.314          0.993          3.044          0              0              0              51
  24  SaltShaker      0.058          0.755          6.261          0              135            0              87
  25  Lettuce         1.449          0.932          2.050          0              0              0              74
  26  SoapBottle      1.135          0.992          4.624          0              0              0              52
  27  Spatula         -0.312         0.775          6.291          0              0              0              87
  28  PaperTowelRoll  1.135          1.096          4.808          0              0              0              52
  29  Pot             0.734          0.981          0.38           0              0              0              51
  30  Potato          0.169          0.794          6.807          0              225            0              87
  31  ButterKnife     -0.687         0.992          0.212          0              0              0              51
  32  PepperShaker    1.358          2.202          3.654          0              0              0              55
  33  Pan             1.32           0.988          3.848          0              0              0              50
  34  Tomato          2.094          1.565          5.876          0              270            0              73
  35  DishSponge      1.322          0.140          3.217          0              0              0              62
  36  Cup             1.442          0.887          2.474          0              90             0              74
  37  Spoon           -0.617         0.772          0.451          0              0              0              47
  38  Mug             -0.384         0.987          0.212          0              0              0              51
  39  Cabinet         1.307          2.455          4.360          0              0              0
  40  Cabinet         1.054          0.422          1.710          0              0              0
  41  Drawer          1.280          0.808          4.718          0              0              0
  42  Cabinet         1.307          2.455          3.607          0              0              0
  43  Drawer          0.736          0.802          0.521          0              0              0
  44  Drawer          1.276          0.802          3.291          0              0              0
  45  StoveBurner     1.562          0.982          3.848          0              0              0
  46  StoveBurner     1.317          0.982          4.294          0              0              0
  47  Drawer          -0.482         0.802          0.521          0              0              0
  48  Drawer          0.124          0.802          0.521          0              0              0
  49  StoveBurner     1.559          0.982          4.294          0              0              0
  50  StoveBurner     1.320          0.982          3.848          0              0              0
  51  CounterTop      1.391          1.028          0.897          0              0              0
  52  CounterTop      1.391          1.028          4.716          0              0              0
  53  Cabinet         1.054          0.422          4.548          0              0              0
  54  Cabinet         1.317          2.134          0.517          0              0              0
  55  Cabinet         1.317          2.134          4.889          0              0              0
  56  Cabinet         1.317          2.134          3.095          0              0              0
  57  Cabinet         0.443          0.422          0.743          0              0              0
  58  Cabinet         1.270          2.134          0.434          0              0              0
  59  Cabinet         -0.775         0.422          0.743          0              0              0
  60  Cabinet         -0.168         0.422          0.743          0              0              0
  61  Cabinet         1.317          2.134          1.534          0              0              0
  62  Cabinet         1.054          0.422          2.990          0              0              0
  63  Cabinet         1.054          0.422          2.944          0              0              0
  64  Cabinet         -0.263         2.134          0.434          0              0              0
  65  Cabinet         0.252          2.134          0.434          0              0              0
  66  Sink            1.391          1.006          2.326          0              0              0
  67  Microwave       0.108          0.981          0.262          0              0              0
  68  HousePlant      -0.165         0.826          6.444          0              0              0
  69  CoffeeMachine   1.551          0.982          0.953          0              270            0
  70  Toaster         1.473          0.981          4.715          0              270            0
  71  Window          -2.065         1.916          3.626          90             90             0
  72  Window          1.763          2.007          2.299          90             270            0
  73  Fridge          2.035          0.0            5.625          0              0              0
  74  SinkBasin       1.387          0.880          2.338          0              90             0
  75  GarbageCan      2.001          -0.044         6.503          0              0              0
  76  StoveKnob       1.140          0.934          3.987          45             270            0
  77  StoveKnob       1.140          0.934          4.309          45             270            0
  78  StoveKnob       1.140          0.934          4.140          45             270            0
  79  StoveKnob       1.140          0.934          3.824          45             270            0
  80  Vase            -0.226         0.834          6.993          0              0              0
  81  Vase            2.098          0.043          7.070          0              257.232        0
  82  Vase            -0.594         0.835          6.130          0              225            0
  83  LightSwitch     -2.0           1.549          6.045          0              90             0
  84  Safe            2.046          1.072          7.054          0              257.232        0
  85  Faucet          1.534          1.025          2.371          0              294.391        0
  86  Blinds          1.738          2.563          2.312          0              90             0
  87  DiningTable     -0.156         0.000          6.474          0              0              0
  88  Chair           0.291          0.002          6.142          0              310.162        0
  89  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Look down slightly, turn to the left, walk to the stove, turn left, walk to the table, turn right, walk to the refrigerator, turn left, walk to the wall, turn left, walk closer to the table. | STEP 2: Pick up the fork next to the potato.  | STEP 3: Turn around, walk towards the safe, turn right, walk towards the edge of the counter, turn right, cross half of the room, turn left, walk to the other side of the room to the white counter. | STEP 4: Place the fork in the white coffee cup on the counter. | STEP 5: Pick up the white coffee cup with the fork in it.  | STEP 6: Turn left, walk to the coffee pot, turn left, walk to the end of the counter, turn right, take a step towards the refrigerator, turn left, walk to the wall, turn left, step closer to the table. | STEP 7: Place the coffee cup on the table. | END