Task: Pick up fork, put in cup in cabinet, pick up both and put on 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           0.900          1.5            0              90             0
   1  Pan             0.905          1.132          1.063          0              180            0              79
   2  Potato          0.783          1.432          1.444          0              270            0              79
   3  DishSponge      0.964          0.120          0.374          0              270            0              51
   4  DishSponge      -0.587         0.780          -0.659         0              90             0              77
   5  Glassbottle     -1.363         0.554          2.770          0              0              0              82
   6  Spoon           0.874          0.154          -0.650         0              270            0              59
   7  Spoon           1.114          0.912          -0.034         0              0              0              57
   8  Knife           -0.698         0.957          -1.154         0              0              0              56
   9  Knife           1.029          0.934          -0.208         0              90             0              57
  10  Egg             -0.808         0.814          -0.745         0              90             0              77
  11  Egg             -1.007         0.214          0.543          0              180            0              76
  12  Cup             -1.467         0.551          2.874          0              0              0              82
  13  Cup             0.761          0.105          -1.892         0              0              0              61
  14  Plate           1.194          1.669          -0.465         0              270            0              65
  15  SoapBottle      1.148          1.666          -1.961         0              270            0              55
  16  SaltShaker      0.794          0.699          -0.565         0              270            0              54
  17  SaltShaker      -1.674         0.878          2.773          0              0              0              83
  18  PepperShaker    -1.981         0.878          2.719          0              0              0              83
  19  PepperShaker    0.713          0.491          -0.772         0              270            0              60
  20  Lettuce         1.114          0.988          -0.381         0              0              0              57
  21  Mug             1.029          0.906          -0.555         0              90             0              57
  22  Statue          -1.355         0.936          -0.643         0              0              0              56
  23  Glassbottle     -0.642         0.781          -0.832         0              90             0              77
  24  Bread           -1.292         1.014          -0.905         0              0              0              56
  25  CreditCard      1.199          0.908          -0.381         0              0              0              57
  26  CellPhone       -0.477         0.930          -0.067         0              0              0              56
  27  Potato          0.905          0.893          1.254          0              270            0              79
  28  Knife           0.859          0.934          -0.381         0              0              0              57
  29  Fork            -0.642         0.781          -0.486         0              0              0              77
  30  Pan             0.848          0.946          -1.080         0              0              0              50
  31  Lettuce         0.965          1.212          1.444          0              270            0              79
  32  Plate           0.844          0.866          1.063          0              270            0              79
  33  Apple           0.773          0.961          -1.965         0              0              0              62
  34  Pot             1.077          0.950          -1.504         0              0              0              52
  35  Spatula         0.915          0.718          -0.690         0              0              0              54
  36  PaperTowelRoll  -1.467         0.658          2.563          0              0              0              82
  37  Tomato          -0.772         0.974          0.086          0              0              0              56
  38  Egg             0.783          1.680          1.444          0              270            0              79
  39  SaltShaker      1.101          1.662          0.344          0              270            0              64
  40  PepperShaker    -1.104         0.929          -1.167         0              0              0              56
  41  Vase            0.688          0.911          -0.555         0              0              0              57
  42  ButterKnife     -0.550         0.933          -1.618         0              0              0              56
  43  SoapBottle      -0.477         0.933          0.315          0              0              0              56
  44  Vase            1.193          1.667          0.089          0              270            0              64
  45  Bowl            1.029          0.914          0.139          0              0              0              57
  46  DishSponge      -0.865         0.176          0.608          0              180            0              76
  47  Spoon           -0.846         0.934          -1.386         0              0              0              56
  48  Cup             -0.808         0.773          -0.832         0              90             0              77
  49  Mug             -0.624         0.928          -1.308         0              0              0              56
  50  StoveBurner     0.842          0.919          -1.098         0              0              0
  51  Cabinet         0.648          0.474          0.244          0              270            0
  52  StoveBurner     1.077          0.919          -1.504         0              0              0
  53  StoveBurner     0.842          0.919          -1.504         0              0              0
  54  Drawer          0.637          0.755          -0.649         0              270            0
  55  Cabinet         0.949          2.159          -2.375         0              270            0
  56  CounterTop      -1.238         0.968          -0.643         0              0              0
  57  CounterTop      0.931          0.946          -0.208         0              0              0
  58  StoveBurner     1.077          0.919          -1.098         0              0              0
  59  Drawer          0.637          0.268          -0.649         0              270            0
  60  Drawer          0.637          0.547          -0.649         0              270            0
  61  Cabinet         0.648          0.475          -1.714         0              0              0
  62  CounterTop      0.931          0.946          -2.051         0              0              0
  63  Cabinet         0.948          2.439          -1.780         0              270            0
  64  Cabinet         0.948          2.159          -0.140         0              270            0
  65  Cabinet         0.949          2.159          -0.758         0              270            0
  66  Sink            -0.699         0.927          -0.649         0              0              0
  67  LightSwitch     -2.371         1.218          3.049          0              180            0
  68  StoveKnob       0.673          0.899          -1.373         315            90             180
  69  StoveKnob       0.673          0.899          -1.519         315            90             180
  70  StoveKnob       0.673          0.899          -1.086         315            90             180
  71  StoveKnob       0.673          0.899          -1.237         315            90             180
  72  Toaster         0.984          0.900          0.329          0              270            0
  73  Window          0.014          0.998          -2.640         90             0              0
  74  Window          -2.996         0.998          -2.640         90             0              0
  75  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  76  GarbageCan      -0.946         -0.036         0.575          0              180            0
  77  SinkBasin       -0.698         0.765          -0.647         0              90             0
  78  Microwave       1.042          1.680          -1.295         0              270            0
  79  Fridge          0.966          0.0            1.253          0              0              0
  80  HousePlant      -1.354         0.919          -1.540         0              0              0
  81  Shelf           -1.635         0.172          2.715          0              180            0
  82  Shelf           -1.635         0.552          2.715          0              180            0
  83  Shelf           -1.635         0.880          2.715          0              180            0
  84  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  85  Chair           -1.832         0.002          -0.034         0              119.999        0
  86  Chair           -1.854         0.002          -0.956         0              67.887         0
  87  Faucet          -0.867         1.161          -0.651         0              0              0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Go to fridge, turn right.  Proceed to sink on right.  Turn right to face sink. | STEP 2: Pick up fork from sink, to the right of the green sponge. | STEP 3: Turn left, go to wall, turn left to face counter with coffee maker.   | STEP 4: Open cabinet under counter, put fork in cup to the left of the cabinet. | STEP 5: Pick up fork in cup from cabinet, close cabinet doors. | STEP 6: Look up to face counter. | STEP 7: Place cup with fork on counter front and to the left of the apple and coffee maker. | END