Task: Put a glass with a fork inside on a the green 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          -2.75          0              90             0
   1  Pan             -1.515         0.935          -3.497         0              0              0              52
   2  Pen             -2.552         0.926          -1.193         0              0              0              80
   3  Pen             -2.552         0.926          -2.115         0              0              0              80
   4  WineBottle      -0.344         0.082          -1.849         0              0              0              50
   5  Fork            -2.210         0.924          -2.115         0              270            0              80
   6  Fork            -2.324         0.924          -0.963         0              0              0              80
   7  Spoon           -2.552         0.924          -0.963         0              0              0              80
   8  Knife           -2.096         0.946          -2.115         0              90             0              80
   9  Knife           -2.666         0.946          -1.423         0              180            0              80
  10  Plate           -0.295         1.101          -0.979         0              270            0              72
  11  Plate           -0.343         1.393          -0.77          0              270            0              72
  12  Cup             -1.100         1.968          -3.890         0              0              0              56
  13  Egg             -2.438         0.956          -1.423         0              0              0              80
  14  Egg             -0.246         1.131          -0.770         0              270            0              72
  15  SoapBottle      -0.383         0.079          -2.109         0              0              0              60
  16  SoapBottle      -2.666         0.922          -1.193         0              0              0              80
  17  Bowl            -2.780         0.922          -1.654         0              0              0              80
  18  SaltShaker      -0.449         0.743          -3.238         0              0              0              66
  19  PepperShaker    -0.304         0.077          -3.205         0              0              0              61
  20  PepperShaker    -2.552         0.919          -1.423         0              0              0              80
  21  Mug             -2.552         0.918          -1.884         0              0              0              80
  22  Mug             -2.780         0.918          -2.345         0              0              0              80
  23  Apple           -1.362         1.703          -3.804         0              0              0              68
  24  Apple           -0.222         0.989          -3.368         0              0              0              55
  25  Apple           -0.441         1.172          -0.665         0              270            0              72
  26  Lettuce         -2.666         1.016          -2.115         0              0              0              80
  27  Glassbottle     -0.398         0.797          -2.008         0              270            0              73
  28  Egg             -1.151         1.663          -3.870         0              0              0              68
  29  Pen             -2.666         0.926          -1.884         0              0              0              80
  30  Fork            -0.600         0.916          -3.768         0              0              0              55
  31  SoapBottle      -1.975         0.025          -3.799         0              0              0              71
  32  Pencil          -2.096         0.923          -1.193         0              0              0              80
  33  WineBottle      -2.438         0.924          -1.193         0              0              0              80
  34  Spatula         -2.096         0.938          -1.423         0              0              0              80
  35  Bread           -0.415         0.953          -3.627         0              0              0              55
  36  Tomato          -2.324         0.987          -2.115         0              0              0              80
  37  Pan             -0.308         1.690          -0.665         0              0              0              72
  38  Cup             -0.382         0.080          -3.299         0              0              0              61
  39  Pot             -1.129         0.935          -3.498         0              0              0              53
  40  SaltShaker      -2.324         0.919          -1.654         0              0              0              80
  41  Potato          -2.096         0.954          -2.345         0              0              0              80
  42  PepperShaker    -2.666         0.919          -2.345         0              0              0              80
  43  ButterKnife     -0.600         0.905          -3.485         0              0              0              55
  44  DishSponge      -0.716         0.081          -3.506         0              0              0              59
  45  Spoon           -0.150         0.916          -3.570         0              0              0              55
  46  Plate           -0.322         1.533          -3.610         0              45             0              63
  47  Knife           -2.780         0.946          -1.193         0              90             0              80
  48  Mug             -1.362         1.625          -3.903         0              270            0              68
  49  Bowl            -2.780         0.922          -1.423         0              0              0              80
  50  Cabinet         -0.582         0.388          -1.804         0              0              0
  51  StoveBurner     -1.515         0.928          -3.752         0              90             0
  52  StoveBurner     -1.515         0.928          -3.497         0              0              0
  53  StoveBurner     -1.129         0.928          -3.498         0              0              0
  54  Drawer          -0.749         0.779          -3.551         0              0              0
  55  CounterTop      -0.303         0.951          -2.793         0              0              0
  56  Cabinet         -0.883         2.140          -3.687         0              0              0
  57  Cabinet         -0.312         2.140          -1.543         0              0              0
  58  Sink            -0.349         0.907          -2.014         0              0              0
  59  Cabinet         -0.877         0.388          -3.422         0              0              0
  60  Cabinet         -0.582         0.388          -2.197         0              0              0
  61  Cabinet         -0.584         0.388          -3.396         0              0              0
  62  Cabinet         -0.312         2.140          -2.481         0              0              0
  63  Cabinet         -0.330         1.921          -3.390         0              0              0
  64  Cabinet         -1.764         2.140          -3.687         0              0              0
  65  StoveBurner     -1.129         0.928          -3.752         0              90             0
  66  Drawer          -0.454         0.779          -3.268         0              0              0
  67  Cabinet         -0.302         1.916          -2.501         0              0              0
  68  Microwave       -1.317         1.517          -3.801         0              1.440          0
  69  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  70  LightSwitch     -4.323         1.319          0.0            0              180            0
  71  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  72  Fridge          -0.330         0.0            -0.769         0              270            0
  73  SinkBasin       -0.350         0.786          -2.018         0              270            0
  74  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  75  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  76  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  77  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  78  Toaster         -0.181         0.903          -2.764         0              270            0
  79  Window          -2.503         1.782          -4.185         90             180            0
  80  DiningTable     -2.432         0.000          -1.694         0              270            0
  81  Shelf           -2.432         0.150          -1.694         0              270            0
  82  Blinds          -2.536         2.699          -3.959         0              0              0
  83  Faucet          -0.079         0.904          -2.034         270            180            0
  84  Chair           -3.264         0.002          -2.094         0              53.280         0
  85  Chair           -3.240         0.002          -1.253         0              117.257        0
  86  Shelf           -2.432         0.523          -1.694         0              270            0
  87  NorthWall
  88  EastWall
  89  SouthWall
  90  WestWall

Plan:
STEP 1: Turn around and face the green table. | STEP 2: Pick up the fork from the green table. | STEP 3: Turn left, then left again to face the green counter. | STEP 4: Open the cabinet on the right and put the fork in the glass inside the cabinet. | STEP 5: Take out the glass with the fork inside and close the cabinet. | STEP 6: Turn around and face the green table. | STEP 7: Put the glass with the fork inside on the green table. | END