Task: Put a glass with a 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           -1.5           0.900          2.0            0              0              0
   1  Pan             -0.244         0.829          1.684          0              0              0              42
   2  Potato          -2.781         1.484          2.045          0              90             0              61
   3  Fork            -0.296         0.697          0.949          0              270            0              45
   4  Spatula         -2.491         0.838          0.352          0              0              0              43
   5  Egg             -2.744         0.945          1.390          0              90             0              62
   6  Cup             -2.726         1.144          2.397          0              90             0              61
   7  Cup             -2.810         0.921          1.284          0              90             0              62
   8  Plate           -1.580         0.130          0.440          0              0              0              56
   9  Tomato          -2.892         0.874          1.957          0              90             0              61
  10  Bowl            -2.752         1.431          0.260          0              45             0              49
  11  PepperShaker    -2.375         0.818          0.129          0              0              0              43
  12  PepperShaker    -2.957         0.818          0.278          0              0              0              43
  13  Mug             -2.569         0.116          1.550          0              0              0              61
  14  Apple           -0.262         0.129          2.674          0              270            0              63
  15  Apple           -2.840         0.896          0.278          0              0              0              43
  16  Fork            -2.581         0.824          0.871          0              0              0              43
  17  Ladle           -2.540         1.893          2.316          0              0              0              53
  18  Pan             -0.244         0.829          2.075          0              180            0              38
  19  SoapBottle      -0.395         0.054          2.640          0              0              0              63
  20  Pot             -0.531         0.822          2.096          0              0              0              40
  21  Tomato          -2.671         1.495          1.957          0              90             0              61
  22  Potato          -2.491         0.862          0.055          0              0              0              43
  23  SaltShaker      -2.377         1.431          0.142          0              0              0              50
  24  Plate           -2.057         0.130          0.362          0              0              0              55
  25  Spatula         -0.341         0.696          1.194          0              45             0              39
  26  Knife           -1.709         0.849          0.528          0              0              0              43
  27  Egg             -2.910         0.945          1.284          0              90             0              62
  28  Cup             -2.726         0.825          2.045          0              90             0              61
  29  ButterKnife     -1.151         0.823          0.426          0              0              0              43
  30  Lettuce         -1.836         0.741          0.238          0              55.910         0              70
  31  PepperShaker    -2.375         0.818          0.352          0              0              0              43
  32  DishSponge      -2.619         1.848          2.030          0              0              0              37
  33  Bread           -0.979         0.855          0.249          0              29.999         0              43
  34  Spoon           -1.077         0.699          0.444          0              270            0              47
  35  Mug             -0.646         0.888          0.367          0              0              0              71
  36  Bowl            -0.397         0.115          0.914          0              0              0              59
  37  Cabinet         -2.377         2.015          1.720          0              0              0
  38  StoveBurner     -0.244         0.820          2.075          0              180            0
  39  Drawer          -0.402         0.703          1.252          0              0              0
  40  StoveBurner     -0.518         0.820          2.075          0              180            0
  41  Sink            -1.838         0.726          0.343          0              180            0
  42  StoveBurner     -0.244         0.820          1.684          0              0              0
  43  CounterTop      -1.557         0.859          0.277          0              0              0
  44  StoveBurner     -0.518         0.820          1.684          0              0              0
  45  Drawer          -0.404         0.704          0.912          0              0              0
  46  Drawer          -0.861         0.709          0.420          0              0              0
  47  Drawer          -1.133         0.706          0.418          0              0              0
  48  Drawer          -2.589         0.703          1.511          0              0              0
  49  Cabinet         -2.772         1.803          0.508          0              0              0
  50  Cabinet         -2.460         1.803          0.231          0              0              0
  51  Cabinet         -2.781         1.798          0.825          0              0              0
  52  Cabinet         -2.781         1.798          0.815          0              0              0
  53  Cabinet         -2.377         2.009          2.581          0              0              0
  54  Cabinet         -2.442         0.385          1.672          0              0              0
  55  Cabinet         -2.238         0.385          0.564          0              0              0
  56  Cabinet         -1.286         0.385          0.564          0              0              0
  57  Cabinet         -1.262         0.385          0.565          0              0              0
  58  Cabinet         -0.734         0.385          0.565          0              0              0
  59  Cabinet         -0.549         0.385          0.751          0              0              0
  60  Cabinet         -0.549         0.385          1.412          0              0              0
  61  Fridge          -2.782         0.0            2.221          0              0              0
  62  Microwave       -2.794         0.812          1.348          0              90             0
  63  GarbageCan      -0.329         2.205          2.606          0              0              0
  64  StoveKnob       -0.069         0.998          1.773          0              180            107.470
  65  StoveKnob       -0.069         0.998          1.613          0              180            107.470
  66  StoveKnob       -0.069         0.998          2.171          0              180            107.470
  67  StoveKnob       -0.069         0.998          2.024          0              180            107.470
  68  Window          -1.720         1.342          -0.208         90             0              0
  69  Toaster         -0.171         0.812          0.735          0              270            0
  70  SinkBasin       -1.745         0.687          0.295          0              0              0
  71  CoffeeMachine   -0.539         0.812          0.185          0              0              0
  72  LightSwitch     -0.615         1.378          3.0            0              180            0
  73  Faucet          -1.686         0.954          0.176          0              236.223        0
  74  Stool           -1.008         0.008          1.955          0              18.279         0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: Turn around, go to the sink, turn left, go to the counter | STEP 2: Pick up the fork on the counter | STEP 3: Turn right, go forward, turn left in front of the fridge, open the fridge | STEP 4: Put the fork into the glass in the middle shelf of the fridge | STEP 5: Take the glass with the fork in it, close the fridge | STEP 6: Turn left, go towards the sink | STEP 7: Put the glass on the counter to the right | END