Task: Set the tray and fork on the counter near the toaster.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          -1.0           0              0              0
   1  Potato          -4.182         0.722          -0.187         0              0              0              86
   2  DishSponge      -1.694         0.941          -3.908         0              0              0              51
   3  ButterKnife     -4.002         0.690          -0.491         0              0              0              86
   4  ButterKnife     -0.157         0.941          -1.581         0              0              0              69
   5  Pot             -3.342         0.761          -3.185         0              244.125        0              87
   6  Fork            -0.721         0.814          -3.491         0              315            0              80
   7  Fork            -0.465         0.747          -1.488         0              90             0              55
   8  Fork            -0.583         0.747          -1.450         0              90             0              55
   9  Spoon           -0.529         0.814          -3.221         0              315            0              80
  10  Spoon           -1.123         0.754          -3.505         0              0              0              57
  11  Spatula         -0.244         0.957          -2.729         0              90             0              51
  12  Spatula         -0.394         0.956          -1.581         0              0              0              69
  13  Egg             -1.042         0.983          -3.624         0              45             0              51
  14  Egg             -3.721         0.801          -3.542         0              334.125        0              87
  15  Plate           -0.175         1.951          -1.108         0              0              0              59
  16  Plate           -0.201         1.589          -1.990         0              270            0              83
  17  Plate           -0.173         1.516          -3.052         0              0              0              68
  18  Knife           -4.122         0.716          -0.309         0              90             0              86
  19  Knife           -0.244         0.967          -2.847         0              0              0              51
  20  SoapBottle      -0.394         0.939          -1.406         0              90             0              69
  21  SoapBottle      -4.122         0.688          -0.491         0              90             0              86
  22  Tomato          -4.242         0.742          -0.430         0              0              0              86
  23  Tomato          -0.417         1.337          -0.878         0              270            0              81
  24  Bread           -2.761         0.976          -0.290         0              270            0              88
  25  Bread           -3.364         0.976          -0.376         0              270            0              88
  26  Lettuce         -0.321         1.579          -0.413         0              270            0              81
  27  SaltShaker      -3.882         0.686          -0.491         0              0              0              86
  28  Apple           -3.942         0.751          -0.369         0              0              0              86
  29  Apple           -0.334         1.348          -0.762         0              270            0              81
  30  SoapBottle      -3.925         0.758          -3.399         0              244.125        0              87
  31  Pot             -0.222         0.961          -1.845         0              180            0              53
  32  Fork            -0.473         0.942          -2.670         0              0              0              51
  33  Cup             -0.417         1.287          -0.413         0              270            0              81
  34  Tomato          -0.293         1.337          -0.529         0              270            0              81
  35  Pan             -0.217         0.958          -2.215         0              45             0              70
  36  Plate           -3.942         0.705          -0.187         0              0              0              86
  37  Bread           -2.761         0.976          -0.633         0              270            0              88
  38  Spatula         -0.543         0.765          -2.632         0              270            0              56
  39  Knife           -3.163         0.920          -0.462         0              270            0              88
  40  SaltShaker      -2.560         0.890          -0.290         0              270            0              88
  41  PepperShaker    -3.163         0.890          -0.204         0              270            0              88
  42  ButterKnife     -0.315         0.941          -1.319         0              0              0              69
  43  Apple           -4.062         0.752          -0.369         0              0              0              86
  44  DishSponge      -3.364         0.894          -0.548         0              270            0              88
  45  Potato          -0.167         1.607          -1.831         0              270            0              83
  46  Egg             -2.560         0.935          -0.119         0              270            0              88
  47  Spoon           -0.157         0.942          -1.494         0              0              0              69
  48  Lettuce         -3.565         0.985          -0.548         0              270            0              88
  49  Mug             -2.514         0.972          -3.649         0              0              0              77
  50  Bowl            -0.126         1.937          -2.285         0              0              0              61
  51  CounterTop      -1.937         0.977          -3.673         0              0              0
  52  StoveBurner     -0.437         0.924          -1.845         0              180            0
  53  StoveBurner     -0.222         0.924          -1.845         0              180            0
  54  StoveBurner     -0.437         0.924          -2.243         0              0              0
  55  Drawer          -0.500         0.779          -1.450         0              0              0
  56  Drawer          -0.481         0.777          -2.739         0              0              0
  57  Drawer          -1.154         0.782          -3.499         0              0              0
  58  Cabinet         -0.337         2.110          -0.390         0              0              0
  59  Cabinet         -0.337         2.110          -1.272         0              0              0
  60  Cabinet         -0.337         2.110          -1.631         0              0              0
  61  Cabinet         -0.337         2.110          -2.497         0              0              0
  62  Cabinet         -0.337         1.891          -1.286         0              0              0
  63  Cabinet         -0.346         1.891          -3.293         0              0              0
  64  Cabinet         -0.629         0.388          -2.513         0              0              0
  65  Cabinet         -0.633         0.388          -3.008         0              0              0
  66  Cabinet         -1.010         0.388          -3.368         0              0              0
  67  Cabinet         -0.629         0.388          -1.614         0              0              0
  68  Cabinet         -0.327         1.886          -2.513         0              0              0
  69  CounterTop      -0.326         0.976          -1.450         0              0              0
  70  StoveBurner     -0.222         0.924          -2.243         0              0              0
  71  Sink            -0.600         0.929          -3.388         0              0              0
  72  StoveKnob       -0.617         0.899          -1.833         315            90             180
  73  StoveKnob       -0.617         0.899          -2.129         315            90             180
  74  StoveKnob       -0.617         0.899          -2.289         315            90             180
  75  StoveKnob       -0.617         0.899          -1.975         315            90             180
  76  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  77  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  78  Window          -1.389         1.610          -4.113         90             0              0
  79  LightSwitch     -4.372         1.493          -1.031         0              90             0
  80  SinkBasin       -0.614         0.802          -3.384         0              315            0
  81  Fridge          -0.314         0.0            -0.646         0              0              0
  82  Toaster         -1.970         0.930          -3.763         0              0              0
  83  Microwave       -0.216         1.470          -2.054         0              270            0
  84  Blinds          -1.373         2.205          -3.961         0              0              0
  85  Faucet          -0.393         0.930          -3.614         270            225            0
  86  SideTable       -4.030         0.002          -0.301         0              185.034        0
  87  DiningTable     -3.586         0.000          -3.258         0              0              0
  88  DiningTable     -3.224         -0.003         -0.453         0              0              0
  89  Shelf           -4.030         0.259          -0.301         0              185.034        0
  90  Shelf           -4.030         0.489          -0.301         0              185.034        0
  91  EastWall
  92  EastWall
  93  SouthWall

Plan:
STEP 1: Turn around and walk to the sink. | STEP 2: Pick up the fork from the sink. | STEP 3: Turn to the left and look up to the cupboard. | STEP 4: Open the cupboard and set the fork on the tray. | STEP 5: Take the tray and fork out of the cupboard. | STEP 6: Turn around and face the toaster.  | STEP 7: Set the tray and fork on the counter near the toaster. | END