Task: Put a fork in a cup and place it in on the kitchen table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.914          3.0            0              0              0
   1  Potato          -0.440         1.574          4.033          0              180            0              71
   2  Potato          -1.523         0.923          0.564          0              90             0              81
   3  DishSponge      -1.391         0.891          0.564          0              90             0              81
   4  DishSponge      -1.259         0.891          0.358          0              90             0              81
   5  ButterKnife     -1.259         0.891          0.049          0              90             0              81
   6  ButterKnife     -3.272         0.915          1.189          0              0              0              54
   7  WineBottle      -2.022         0.916          4.104          0              0              0              45
   8  Spatula         -3.463         0.930          1.357          0              0              0              54
   9  Pot             -3.424         0.966          2.374          0              0              0              51
  10  Cup             -0.206         0.986          4.114          0              180            0              71
  11  Cup             -0.440         1.273          4.027          0              180            0              71
  12  Knife           -3.463         0.939          1.524          0              0              0              54
  13  SoapBottle      -3.272         0.915          3.663          0              0              0              45
  14  SoapBottle      -3.272         0.915          3.827          0              0              0              45
  15  Bowl            -0.994         0.895          -0.053         0              90             0              81
  16  Bowl            -1.707         0.079          3.586          0              0              0              50
  17  PepperShaker    -3.081         0.912          1.524          0              0              0              54
  18  PepperShaker    -1.711         0.911          4.188          0              0              0              45
  19  Mug             -3.508         1.454          1.152          0              0              0              63
  20  Mug             -1.985         0.784          3.7            0              90             0              75
  21  Mug             -3.368         0.910          1.273          0              0              0              54
  22  Egg             -1.256         0.121          3.884          0              270            0              77
  23  Knife           -3.038         0.768          1.202          0              90             0              46
  24  Fork            -3.176         0.916          1.524          0              0              0              54
  25  Bread           -3.081         0.997          1.357          0              0              0              54
  26  Potato          -1.787         0.923          0.358          0              90             0              81
  27  Plate           -3.005         0.904          3.677          0              0              0              45
  28  Pot             -3.424         0.966          1.971          0              0              0              53
  29  Kettle          -1.655         0.892          0.152          0              90             0              81
  30  WineBottle      -2.309         0.081          3.702          0              0              0              56
  31  Bowl            -3.458         1.993          1.890          0              0              0              59
  32  Tomato          -3.463         0.984          1.106          0              0              0              54
  33  Cup             -3.458         1.994          2.054          0              0              0              59
  34  Spatula         -1.793         0.804          3.7            0              0              0              75
  35  SoapBottle      -3.525         1.995          2.305          0              0              0              60
  36  Lettuce         -1.127         0.977          0.152          0              90             0              81
  37  Pan             -2.614         0.902          3.620          0              0              0              45
  38  Apple           -1.127         0.951          0.461          0              90             0              81
  39  SaltShaker      -3.126         0.741          1.587          0              0              0              46
  40  PepperShaker    -1.391         0.887          0.152          0              90             0              81
  41  ButterKnife     -2.503         0.915          3.890          0              0              0              45
  42  DishSponge      -1.192         0.086          3.788          0              270            0              77
  43  Spoon           -3.214         0.746          1.202          0              90             0              46
  44  Mug             -1.602         0.784          3.7            0              0              0              75
  45  CounterTop      -3.381         0.950          3.335          0              0              0
  46  Drawer          -3.121         0.775          1.357          0              0              0
  47  Drawer          -3.121         0.777          2.916          0              0              0
  48  StoveBurner     -3.148         0.958          2.374          0              0              0
  49  Sink            -1.797         0.917          3.660          0              0              0
  50  Cabinet         -1.421         0.388          3.459          0              0              0
  51  StoveBurner     -3.424         0.958          2.374          0              0              0
  52  Cabinet         -3.365         1.931          2.676          0              0              0
  53  StoveBurner     -3.424         0.958          1.971          0              0              0
  54  CounterTop      -3.381         0.951          1.356          0              0              0
  55  Drawer          -3.121         0.781          3.295          0              0              0
  56  Cabinet         -2.205         0.388          3.459          0              0              0
  57  Cabinet         -2.963         0.388          3.459          0              0              0
  58  Cabinet         -2.992         0.388          2.683          0              0              0
  59  Cabinet         -3.352         2.205          1.715          0              0              0
  60  Cabinet         -3.352         2.205          2.653          0              0              0
  61  Cabinet         -2.189         0.388          3.466          0              0              0
  62  Cabinet         -3.365         1.931          3.963          0              0              0
  63  Cabinet         -3.365         1.931          1.056          0              0              0
  64  Cabinet         -2.992         0.388          1.037          0              0              0
  65  StoveBurner     -3.143         0.958          1.971          0              0              0
  66  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  67  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  68  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  69  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  70  Toaster         -2.654         0.902          4.064          0              180            0
  71  Fridge          -0.439         0.014          3.996          0              0              0
  72  LightSwitch     0.25           1.383          2.085          0              270            0
  73  Window          -1.430         1.338          -0.347         90             0              0
  74  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  75  SinkBasin       -1.802         0.778          3.700          0              0              0
  76  Microwave       -3.484         1.430          2.182          0              90             0
  77  GarbageCan      -1.184         -0.020         3.794          0              270            0
  78  Blinds          -1.404         2.092          -0.296         0              0              0
  79  Stool           -1.373         0.014          1.048          1.214          20.754         0
  80  Faucet          -1.788         0.903          3.931          270            90             0
  81  DiningTable     -1.399         0.010          0.238          0              0              0
  82  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: Turn around and walk towards the kitchen table, then hang left and go to the counter left of the stove. | STEP 2: Pick up the fork on the counter behind the salt shaker. | STEP 3: Side step to the left of the counter to be center with a coffee cup. | STEP 4: Place the fork into the coffee cup with the tines up. | STEP 5: Pick up the coffee up from the counter. | STEP 6: Turn around and walk to the other end of kitchen. Slide between the edge of the table and the wall. | STEP 7: Place the coffee cup with the fork in front of the green apple. | END