Task: Put a cup, with a fork stuck through its side, in an upper cabinet.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          -1.0           0              90             0
   1  DishSponge      -0.465         0.746          -1.375         0              0              0              47
   2  DishSponge      -0.157         0.940          -1.362         0              0              0              61
   3  ButterKnife     -4.064         0.760          -3.466         0              244.125        0              79
   4  Pot             -0.437         0.961          -1.845         0              180            0              44
   5  Pot             -3.565         0.895          -0.290         0              270            0              80
   6  Fork            -3.260         0.760          -3.354         0              334.125        0              79
   7  Egg             -0.701         0.854          -3.627         0              315            0              72
   8  Cup             -0.236         0.942          -1.538         0              0              0              61
   9  Cup             -3.813         0.760          -3.275         0              244.125        0              79
  10  Plate           -3.460         0.774          -3.048         0              199.125        0              79
  11  Plate           -1.151         0.095          -3.493         0              0              0              58
  12  SoapBottle      -2.962         0.892          -0.376         0              90             0              80
  13  SoapBottle      -0.552         0.939          -1.406         0              0              0              61
  14  Tomato          -0.394         0.992          -1.494         0              0              0              61
  15  Tomato          -4.242         0.741          -0.369         0              0              0              78
  16  Bread           -3.163         0.976          -0.290         0              270            0              80
  17  Lettuce         -3.230         0.851          -3.061         0              244.125        0              79
  18  Lettuce         -3.612         0.851          -3.486         0              199.125        0              79
  19  PepperShaker    -4.122         0.687          -0.187         0              0              0              78
  20  Apple           -3.121         0.821          -3.286         0              244.125        0              79
  21  Apple           -0.397         1.003          -2.670         0              0              0              43
  22  SoapBottle      -3.565         0.892          -0.633         0              270            0              80
  23  Pot             -1.248         0.943          -3.595         0              0              0              43
  24  Fork            -0.157         0.941          -1.494         0              180            0              61
  25  Cup             -0.397         1.489          -0.297         0              270            0              73
  26  Tomato          -3.882         0.742          -0.187         0              0              0              78
  27  Pan             -0.217         0.958          -2.215         0              45             0              62
  28  Plate           -0.359         1.502          -0.646         0              270            0              73
  29  Bread           -4.062         0.772          -0.308         0              0              0              78
  30  Spatula         -3.688         0.775          -3.133         0              109.125        0              79
  31  Knife           -0.168         0.967          -2.906         0              0              0              43
  32  SaltShaker      -0.554         0.743          -1.338         0              0              0              47
  33  PepperShaker    -3.364         0.890          -0.548         0              270            0              80
  34  ButterKnife     -4.059         0.760          -3.168         0              109.125        0              79
  35  Apple           -1.471         1.003          -3.673         0              0              0              43
  36  DishSponge      -0.440         0.751          -2.739         0              0              0              48
  37  Potato          -3.882         0.723          -0.369         0              0              0              78
  38  Egg             -4.182         0.731          -0.491         0              0              0              78
  39  Spoon           -2.139         0.943          -3.673         0              0              0              43
  40  Lettuce         -2.560         0.985          -0.204         0              270            0              80
  41  Mug             -0.376         1.281          -0.878         0              270            0              73
  42  Bowl            -3.878         0.758          -2.931         0              334.125        0              79
  43  CounterTop      -1.937         0.977          -3.673         0              0              0
  44  StoveBurner     -0.437         0.924          -1.845         0              180            0
  45  StoveBurner     -0.222         0.924          -1.845         0              180            0
  46  StoveBurner     -0.437         0.924          -2.243         0              0              0
  47  Drawer          -0.500         0.779          -1.450         0              0              0
  48  Drawer          -0.481         0.777          -2.739         0              0              0
  49  Drawer          -1.154         0.782          -3.499         0              0              0
  50  Cabinet         -0.337         2.110          -0.390         0              0              0
  51  Cabinet         -0.337         2.110          -1.272         0              0              0
  52  Cabinet         -0.337         2.110          -1.631         0              0              0
  53  Cabinet         -0.337         2.110          -2.497         0              0              0
  54  Cabinet         -0.337         1.891          -1.286         0              0              0
  55  Cabinet         -0.346         1.891          -3.293         0              0              0
  56  Cabinet         -0.629         0.388          -2.513         0              0              0
  57  Cabinet         -0.633         0.388          -3.008         0              0              0
  58  Cabinet         -1.010         0.388          -3.368         0              0              0
  59  Cabinet         -0.629         0.388          -1.614         0              0              0
  60  Cabinet         -0.327         1.886          -2.513         0              0              0
  61  CounterTop      -0.326         0.976          -1.450         0              0              0
  62  StoveBurner     -0.222         0.924          -2.243         0              0              0
  63  Sink            -0.600         0.929          -3.388         0              0              0
  64  StoveKnob       -0.617         0.899          -1.833         315            90             180
  65  StoveKnob       -0.617         0.899          -2.129         315            90             180
  66  StoveKnob       -0.617         0.899          -2.289         315            90             180
  67  StoveKnob       -0.617         0.899          -1.975         315            90             180
  68  GarbageCan      -2.418         -0.032         -3.541         0              0              0
  69  CoffeeMachine   -2.513         0.930          -3.797         0              0              0
  70  Window          -1.389         1.610          -4.113         90             0              0
  71  LightSwitch     -4.372         1.493          -1.031         0              90             0
  72  SinkBasin       -0.614         0.802          -3.384         0              315            0
  73  Fridge          -0.314         0.0            -0.646         0              0              0
  74  Toaster         -1.970         0.930          -3.763         0              0              0
  75  Microwave       -0.216         1.470          -2.054         0              270            0
  76  Blinds          -1.373         2.205          -3.961         0              0              0
  77  Faucet          -0.393         0.930          -3.614         270            225            0
  78  SideTable       -4.030         0.002          -0.301         0              185.034        0
  79  DiningTable     -3.586         0.000          -3.258         0              0              0
  80  DiningTable     -3.224         -0.003         -0.453         0              0              0
  81  Shelf           -4.030         0.259          -0.301         0              185.034        0
  82  Shelf           -4.030         0.489          -0.301         0              185.034        0
  83  EastWall
  84  EastWall
  85  SouthWall

Plan:
STEP 1: Turn right for two steps, turn left and stop at the counter. | STEP 2: Pick up the cup, with a fork stuck through its side, on the upper right corner of the counter. | STEP 3: Turn right for two steps, turn left and stop in front of the stove. | STEP 4: Open the microwave door, put the cup in the microwave with the handle of the fork pointing left then shut the door. Wait a few seconds and open the door, take the cup out and shut the door. | STEP 5: Turn right for one step and hold the cup up. | STEP 6: Open the upper cabinet door, put the cup in the cabinet then shut the door. | END