Task: Put the fork in the green cup, put the cup 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           -3.0           0.900          -1.25          0              90             0
   1  Potato          0.688          0.941          -0.381         0              0              0              63
   2  CreditCard      0.834          0.491          -0.607         0              270            0              66
   3  CreditCard      -1.674         0.878          2.746          0              0              0              89
   4  CellPhone       0.875          0.699          -0.607         0              270            0              60
   5  CellPhone       0.773          0.908          -0.555         0              0              0              63
   6  ButterKnife     0.859          0.911          -0.729         0              0              0              63
   7  Glassbottle     0.964          0.121          0.349          0              270            0              57
   8  Fork            1.114          0.911          -0.729         0              0              0              63
   9  Fork            -1.104         0.934          -0.905         0              0              0              62
  10  Fork            -0.697         0.777          -0.745         0              0              0              83
  11  Spatula         0.915          0.717          -0.731         0              0              0              60
  12  Spatula         -0.550         0.948          -1.463         0              0              0              62
  13  Egg             1.028          1.833          -1.132         0              270            0              84
  14  Cup             1.026          1.640          1.158          0              270            0              85
  15  Cup             -0.587         0.777          -0.659         0              90             0              83
  16  Plate           0.811          0.111          -2.132         0              0              0              67
  17  Plate           -1.363         0.557          2.718          0              0              0              88
  18  Tomato          -0.642         0.817          -0.832         0              90             0              83
  19  SoapBottle      1.199          0.911          -0.381         0              0              0              63
  20  SoapBottle      0.773          0.911          -1.793         0              0              0              68
  21  SaltShaker      1.199          0.907          0.139          0              0              0              63
  22  Lettuce         -1.229         1.010          0.144          0              0              0              62
  23  Lettuce         0.905          0.940          1.254          0              270            0              85
  24  Bread           0.944          0.992          0.139          0              0              0              63
  25  Bread           -0.846         1.014          -1.540         0              0              0              62
  26  Mug             0.966          1.129          1.349          0              270            0              85
  27  Apple           -0.808         0.830          -0.659         0              90             0              83
  28  Statue          -1.229         0.936          -0.118         0              0              0              62
  29  Glassbottle     1.101          1.667          -2.029         0              270            0              61
  30  Bread           1.026          1.482          1.349          0              270            0              85
  31  CreditCard      0.794          0.492          -0.731         0              270            0              66
  32  CellPhone       1.029          0.908          -0.208         0              0              0              63
  33  Potato          -0.808         0.811          -0.486         0              90             0              83
  34  Knife           -0.772         0.957          0.086          0              0              0              62
  35  Fork            1.029          0.911          -0.555         0              0              0              63
  36  Pan             0.848          0.946          -1.080         0              0              0              56
  37  Lettuce         -0.550         1.010          0.086          0              0              0              62
  38  Plate           0.844          1.405          1.158          0              270            0              85
  39  Apple           -1.007         0.227          0.608          0              180            0              82
  40  Pot             1.077          0.950          -1.504         0              0              0              58
  41  Spatula         1.114          0.926          -0.381         0              0              0              63
  42  PaperTowelRoll  -1.570         0.658          2.874          0              0              0              88
  43  Tomato          0.905          1.683          1.349          0              270            0              85
  44  Egg             0.773          0.949          -2.308         0              0              0              68
  45  SaltShaker      1.193          1.662          0.153          0              270            0              70
  46  PepperShaker    0.915          0.491          -0.565         0              270            0              66
  47  Vase            -1.292         0.933          -0.643         0              0              0              62
  48  ButterKnife     0.773          0.911          0.313          0              0              0              63
  49  SoapBottle      -0.865         0.177          0.608          0              180            0              82
  50  Vase            -1.881         0.555          2.615          0              0              0              88
  51  Bowl            1.148          1.669          -0.465         0              270            0              71
  52  DishSponge      0.793          0.153          -0.650         0              270            0              65
  53  Spoon           -1.241         0.919          -1.209         0              0              0              62
  54  Cup             1.126          1.792          -1.132         0              270            0              84
  55  Mug             0.811          0.115          0.374          0              270            0              57
  56  StoveBurner     0.842          0.919          -1.098         0              0              0
  57  Cabinet         0.648          0.474          0.244          0              270            0
  58  StoveBurner     1.077          0.919          -1.504         0              0              0
  59  StoveBurner     0.842          0.919          -1.504         0              0              0
  60  Drawer          0.637          0.755          -0.649         0              270            0
  61  Cabinet         0.949          2.159          -2.375         0              270            0
  62  CounterTop      -1.238         0.968          -0.643         0              0              0
  63  CounterTop      0.931          0.946          -0.208         0              0              0
  64  StoveBurner     1.077          0.919          -1.098         0              0              0
  65  Drawer          0.637          0.268          -0.649         0              270            0
  66  Drawer          0.637          0.547          -0.649         0              270            0
  67  Cabinet         0.648          0.475          -1.714         0              0              0
  68  CounterTop      0.931          0.946          -2.051         0              0              0
  69  Cabinet         0.948          2.439          -1.780         0              270            0
  70  Cabinet         0.948          2.159          -0.140         0              270            0
  71  Cabinet         0.949          2.159          -0.758         0              270            0
  72  Sink            -0.699         0.927          -0.649         0              0              0
  73  LightSwitch     -2.371         1.218          3.049          0              180            0
  74  StoveKnob       0.673          0.899          -1.373         315            90             180
  75  StoveKnob       0.673          0.899          -1.519         315            90             180
  76  StoveKnob       0.673          0.899          -1.086         315            90             180
  77  StoveKnob       0.673          0.899          -1.237         315            90             180
  78  Toaster         0.984          0.900          0.329          0              270            0
  79  Window          0.014          0.998          -2.640         90             0              0
  80  Window          -2.996         0.998          -2.640         90             0              0
  81  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  82  GarbageCan      -0.946         -0.036         0.575          0              180            0
  83  SinkBasin       -0.698         0.765          -0.647         0              90             0
  84  Microwave       1.042          1.680          -1.295         0              270            0
  85  Fridge          0.966          0.0            1.253          0              0              0
  86  HousePlant      -1.354         0.919          -1.540         0              0              0
  87  Shelf           -1.635         0.172          2.715          0              180            0
  88  Shelf           -1.635         0.552          2.715          0              180            0
  89  Shelf           -1.635         0.880          2.715          0              180            0
  90  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  91  Chair           -1.832         0.002          -0.034         0              119.999        0
  92  Chair           -1.854         0.002          -0.956         0              67.887         0
  93  Faucet          -0.867         1.161          -0.651         0              0              0
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Turn to the right, take a couple steps, turn to the left | STEP 2: Head across the kitchen to the sink | STEP 3: Take the fork out of the sink | STEP 4: Put the fork in the green cup | STEP 5: Take the green cup out of the sink | STEP 6: Turn around, face the counter | STEP 7: Put the green cup on the counter | END