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

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.901          4.25           0              90             0
   1  DishSponge      -2.301         1.773          0.297          0              0              0              57
   2  DishSponge      -2.583         0.900          2.309          0              0              0              82
   3  ButterKnife     -2.480         0.900          2.177          0              0              0              82
   4  ButterKnife     -1.770         0.928          0.433          0              0              0              61
   5  Spatula         -1.824         0.677          0.300          0              90             0              64
   6  Spatula         -0.143         0.915          3.133          0              0              0              84
   7  Spoon           -2.215         0.663          0.519          0              0              0              69
   8  Fork            -2.269         0.662          0.300          0              90             0              69
   9  Fork            -0.272         0.662          0.355          0              0              0              50
  10  Pot             -0.535         0.928          4.274          0              0              0              65
  11  Egg             -2.644         0.332          4.278          0              90             0              78
  12  Cup             -0.400         0.900          2.731          0              0              0              84
  13  Cup             -2.583         0.900          2.573          0              0              0              82
  14  Cup             -0.228         0.900          2.731          0              0              0              84
  15  Plate           -1.746         1.777          0.251          0              0              0              56
  16  Plate           -0.747         1.777          0.205          0              0              0              59
  17  Knife           -2.480         0.926          2.441          0              0              0              82
  18  SoapBottle      -2.549         0.935          3.488          0              90             0              68
  19  SoapBottle      -2.628         0.935          3.766          0              90             0              68
  20  Tomato          -2.892         0.964          2.573          0              0              0              82
  21  Bowl            -0.297         1.015          0.235          0              0              0              80
  22  Bowl            -2.878         0.295          4.427          0              90             0              78
  23  SaltShaker      -2.686         0.896          2.441          0              0              0              82
  24  SaltShaker      -2.628         0.931          3.580          0              0              0              68
  25  PepperShaker    -2.864         0.931          3.209          0              0              0              68
  26  PepperShaker    -1.986         0.658          0.300          0              0              0              64
  27  Bread           -0.314         0.957          2.329          0              0              0              84
  28  Mug             -0.143         0.895          3.334          0              0              0              84
  29  Egg             -0.400         0.933          3.334          0              0              0              84
  30  Plate           -0.194         1.777          0.160          0              0              0              60
  31  Fork            -0.143         0.901          2.731          0              90             0              84
  32  Bread           -2.864         0.940          1.983          0              0              0              82
  33  Apple           -0.657         0.956          3.133          0              0              0              84
  34  Lettuce         -2.037         1.007          0.518          0              0              0              61
  35  Spatula         -1.094         0.810          0.337          0              0              0              79
  36  Knife           -2.789         0.926          2.573          0              90             0              82
  37  Potato          -0.143         0.926          2.329          0              0              0              84
  38  Tomato          -2.816         0.117          0.453          0              26.101         0              75
  39  Cup             -1.266         0.795          0.281          0              0              0              79
  40  SaltShaker      -2.161         0.658          0.409          0              0              0              69
  41  PepperShaker    -2.995         0.896          2.177          0              0              0              82
  42  ButterKnife     -0.433         0.662          0.409          0              90             0              50
  43  SoapBottle      -1.904         0.927          0.264          0              0              0              61
  44  Pan             -0.250         0.926          4.651          0              0              0              63
  45  DishSponge      -2.892         0.900          2.441          0              0              0              82
  46  Pot             -0.400         0.900          2.932          0              180            0              84
  47  Spoon           -2.377         0.901          1.913          0              0              0              82
  48  Mug             -2.778         1.001          3.714          0              90             0              81
  49  Bowl            -2.847         1.182          4.352          0              90             0              78
  50  Drawer          -0.325         0.696          0.413          0              0              0
  51  Cabinet         -0.595         0.490          0.648          0              0              0
  52  Cabinet         -0.555         0.490          0.646          0              0              0
  53  Cabinet         -1.591         0.490          0.646          0              0              0
  54  Cabinet         -1.554         0.490          0.646          0              0              0
  55  Cabinet         -2.550         0.490          0.646          0              0              0
  56  Cabinet         -1.514         2.046          0.392          0              0              0
  57  Cabinet         -2.474         2.046          0.392          0              0              0
  58  Cabinet         -1.478         2.046          0.392          0              0              0
  59  Cabinet         -0.518         2.046          0.392          0              0              0
  60  Cabinet         -0.479         2.046          0.392          0              0              0
  61  CounterTop      -1.366         0.952          0.349          0              0              0
  62  Sink            -1.108         0.926          0.340          0              0              0
  63  StoveBurner     -0.254         0.922          4.672          0              0              0
  64  Drawer          -1.824         0.696          0.413          0              0              0
  65  StoveBurner     -0.535         0.922          4.274          0              0              0
  66  StoveBurner     -0.254         0.922          4.274          0              0              0
  67  StoveBurner     -0.536         0.922          4.672          0              0              0
  68  CounterTop      -2.780         0.971          3.487          0              0              0
  69  Drawer          -2.323         0.696          0.413          0              0              0
  70  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  71  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  72  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  73  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  74  Toaster         -0.286         0.861          3.520          0              270            0
  75  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  76  LightSwitch     -0.064         1.447          1.996          0              270            0
  77  Window          -3.075         1.593          1.361          90             90             0
  78  Fridge          -2.802         0.0            4.427          0              0              0
  79  SinkBasin       -1.106         0.785          0.337          0              0              0
  80  Microwave       -0.358         0.917          0.224          0              0              0
  81  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  82  DiningTable     -2.733         -0.003         2.607          0              270            0
  83  Faucet          -1.077         0.920          0.028          270            270            0
  84  DiningTable     -0.488         -0.003         3.182          0              270            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Turn right, move the the white table on the left, turn left to face the cups on the table. | STEP 2: Pick up the fork on the table.  | STEP 3: Put the fork in the orange cup closer to you on the table. | STEP 4: Pick up the cup with fork on the table.  | STEP 5: Turn around, bring the cup over the the lettuce on the counter to the left. | STEP 6: Put the cup on the counter, left of the lettuce.  | END