Task: Place a glass with a fork in it on the table in front of a glass pitcher.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.0           0.900          -0.25          0              90             0
   1  Pencil          -0.749         0.746          -3.556         0              0              0              52
   2  Potato          -2.438         0.954          -2.345         0              0              0              78
   3  Potato          -1.912         0.058          -3.835         0              0              0              69
   4  DishSponge      -2.780         0.923          -2.345         0              0              0              78
   5  ButterKnife     -2.666         0.923          -1.654         0              0              0              78
   6  WineBottle      -2.324         0.924          -2.115         0              0              0              78
   7  WineBottle      -0.600         0.916          -3.555         0              0              0              53
   8  Pot             -1.515         0.935          -3.497         0              0              0              50
   9  Spatula         -0.528         0.911          -3.697         0              0              0              53
  10  Fork            -0.398         0.797          -2.082         0              180            0              71
  11  Fork            -2.324         0.924          -1.654         0              90             0              78
  12  Fork            -2.096         0.924          -1.423         0              0              0              78
  13  Spoon           -2.552         0.924          -1.884         0              0              0              78
  14  Knife           -2.666         0.946          -2.345         0              90             0              78
  15  Cup             -0.716         0.081          -3.662         0              0              0              59
  16  Egg             -0.350         0.830          -1.934         0              270            0              71
  17  SaltShaker      -0.420         0.743          -3.238         0              0              0              64
  18  PepperShaker    -0.383         0.077          -1.666         0              0              0              58
  19  PepperShaker    -0.383         0.077          -1.895         0              0              0              58
  20  Mug             -0.351         0.962          -3.144         0              270            0              67
  21  Mug             -0.671         0.910          -3.909         0              180            0              53
  22  Apple           -0.246         1.464          -0.874         0              270            0              70
  23  Apple           -1.362         1.703          -3.903         0              0              0              66
  24  Lettuce         -2.780         1.016          -2.115         0              0              0              78
  25  Glassbottle     -2.324         0.924          -1.884         0              0              0              78
  26  Egg             -0.447         0.830          -2.229         0              270            0              71
  27  Pen             -0.743         0.918          -3.626         0              0              0              53
  28  Fork            -2.096         0.924          -1.884         0              90             0              78
  29  SoapBottle      -2.324         0.922          -2.345         0              0              0              78
  30  Pencil          -1.975         0.027          -3.763         0              0              0              69
  31  WineBottle      -2.438         0.924          -0.963         0              0              0              78
  32  Spatula         -2.438         0.938          -1.654         0              0              0              78
  33  Bread           -0.415         0.955          -3.626         0              0              358.981        53
  34  Tomato          -0.228         1.754          -0.455         0              270            0              70
  35  Pan             -0.343         1.098          -0.979         0              180            0              70
  36  Cup             -0.392         1.389          -0.979         0              270            0              70
  37  Pot             -1.129         0.935          -3.498         0              0              0              51
  38  SaltShaker      -0.690         0.743          -3.527         0              0              0              52
  39  Potato          -0.254         0.828          -1.934         0              270            0              71
  40  PepperShaker    -0.538         0.077          -3.236         0              0              0              59
  41  ButterKnife     -2.324         0.923          -0.963         0              90             0              78
  42  DishSponge      -1.100         1.969          -3.773         0              0              0              54
  43  Spoon           -2.438         0.924          -1.423         0              0              0              78
  44  Plate           -2.096         0.925          -2.115         0              0              0              78
  45  Knife           -2.324         0.946          -1.193         0              0              0              78
  46  Mug             -0.422         0.076          -1.758         0              0              0              48
  47  Bowl            -0.308         1.689          -0.77          0              270            0              70
  48  Cabinet         -0.582         0.388          -1.804         0              0              0
  49  StoveBurner     -1.515         0.928          -3.752         0              90             0
  50  StoveBurner     -1.515         0.928          -3.497         0              0              0
  51  StoveBurner     -1.129         0.928          -3.498         0              0              0
  52  Drawer          -0.749         0.779          -3.551         0              0              0
  53  CounterTop      -0.303         0.951          -2.793         0              0              0
  54  Cabinet         -0.883         2.140          -3.687         0              0              0
  55  Cabinet         -0.312         2.140          -1.543         0              0              0
  56  Sink            -0.349         0.907          -2.014         0              0              0
  57  Cabinet         -0.877         0.388          -3.422         0              0              0
  58  Cabinet         -0.582         0.388          -2.197         0              0              0
  59  Cabinet         -0.584         0.388          -3.396         0              0              0
  60  Cabinet         -0.312         2.140          -2.481         0              0              0
  61  Cabinet         -0.330         1.921          -3.390         0              0              0
  62  Cabinet         -1.764         2.140          -3.687         0              0              0
  63  StoveBurner     -1.129         0.928          -3.752         0              90             0
  64  Drawer          -0.454         0.779          -3.268         0              0              0
  65  Cabinet         -0.302         1.916          -2.501         0              0              0
  66  Microwave       -1.317         1.517          -3.801         0              1.440          0
  67  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  68  LightSwitch     -4.323         1.319          0.0            0              180            0
  69  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  70  Fridge          -0.330         0.0            -0.769         0              270            0
  71  SinkBasin       -0.350         0.786          -2.018         0              270            0
  72  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  73  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  74  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  75  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  76  Toaster         -0.181         0.903          -2.764         0              270            0
  77  Window          -2.503         1.782          -4.185         90             180            0
  78  DiningTable     -2.432         0.000          -1.694         0              270            0
  79  Shelf           -2.432         0.150          -1.694         0              270            0
  80  Blinds          -2.536         2.699          -3.959         0              0              0
  81  Faucet          -0.079         0.904          -2.034         270            180            0
  82  Chair           -3.264         0.002          -2.094         0              53.280         0
  83  Chair           -3.240         0.002          -1.253         0              117.257        0
  84  Shelf           -2.432         0.523          -1.694         0              270            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Move forward, turn right at the refrigerator, turn left at the stove and face the sink. | STEP 2: Pick up the fork from in the sink. | STEP 3: Turn to the left, move forward, turn to the right and face the refrigerator. | STEP 4: Open the refrigerator door and place the fork in a glass next to an apple on the top shelf. | STEP 5: Take the glass out of the refrigerator and close the door. | STEP 6: Turn to the right, move forward slightly, turn to the right again and face the table. | STEP 7: Place the glass with the fork on the table in front of the glass pitcher. | END