Task: place a cup with a fork in it down on the kitchen 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          3.75           0              180            0
   1  Potato          0.273          1.132          0.245          0              0              0              67
   2  Potato          1.582          1.027          3.044          0              0              0              51
   3  ButterKnife     0.015          0.760          6.742          0              225            0              87
   4  Kettle          1.317          0.988          4.294          0              0              0              46
   5  Spoon           0.600          0.773          0.507          0              0              0              43
   6  Spatula         0.544          1.007          0.212          0              90             0              51
   7  Egg             2.009          1.565          6.001          0              270            0              73
   8  Bowl            0.622          1.578          0.295          0              0              0              65
   9  Bowl            -0.483         0.143          0.506          0              0              0              59
  10  PepperShaker    1.314          0.987          0.213          0              0              0              51
  11  SaltShaker      1.543          1.571          4.633          0              0              0              55
  12  Bread           0.150          0.829          6.479          0              270            0              87
  13  Lettuce         -0.378         0.848          6.698          0              135            0              87
  14  Apple           -0.312         0.834          6.479          0              270            0              87
  15  Apple           2.051          1.590          5.626          0              270            0              73
  16  Bowl            1.500          1.576          1.166          0              0              0              61
  17  Bread           1.099          1.048          0.434          0              0              0              51
  18  Egg             1.225          1.042          3.231          0              0              0              51
  19  Knife           0.668          0.802          0.507          0              180            0              43
  20  Fork            0.080          0.760          6.895          0              225            0              87
  21  Apple           1.314          1.067          3.511          0              0              0              51
  22  Kettle          1.562          0.988          3.848          0              0              0              45
  23  Plate           1.314          0.993          3.044          0              0              0              51
  24  SaltShaker      0.058          0.755          6.261          0              135            0              87
  25  Lettuce         1.449          0.932          2.050          0              0              0              74
  26  SoapBottle      1.135          0.992          4.624          0              0              0              52
  27  Spatula         -0.312         0.775          6.291          0              0              0              87
  28  PaperTowelRoll  1.135          1.096          4.808          0              0              0              52
  29  Pot             0.734          0.981          0.38           0              0              0              51
  30  Potato          0.169          0.794          6.807          0              225            0              87
  31  ButterKnife     -0.687         0.992          0.212          0              0              0              51
  32  PepperShaker    1.358          2.202          3.654          0              0              0              55
  33  Pan             1.32           0.988          3.848          0              0              0              50
  34  Tomato          2.094          1.565          5.876          0              270            0              73
  35  DishSponge      1.322          0.140          3.217          0              0              0              62
  36  Cup             1.442          0.887          2.474          0              90             0              74
  37  Spoon           -0.617         0.772          0.451          0              0              0              47
  38  Mug             -0.384         0.987          0.212          0              0              0              51
  39  Cabinet         1.307          2.455          4.360          0              0              0
  40  Cabinet         1.054          0.422          1.710          0              0              0
  41  Drawer          1.280          0.808          4.718          0              0              0
  42  Cabinet         1.307          2.455          3.607          0              0              0
  43  Drawer          0.736          0.802          0.521          0              0              0
  44  Drawer          1.276          0.802          3.291          0              0              0
  45  StoveBurner     1.562          0.982          3.848          0              0              0
  46  StoveBurner     1.317          0.982          4.294          0              0              0
  47  Drawer          -0.482         0.802          0.521          0              0              0
  48  Drawer          0.124          0.802          0.521          0              0              0
  49  StoveBurner     1.559          0.982          4.294          0              0              0
  50  StoveBurner     1.320          0.982          3.848          0              0              0
  51  CounterTop      1.391          1.028          0.897          0              0              0
  52  CounterTop      1.391          1.028          4.716          0              0              0
  53  Cabinet         1.054          0.422          4.548          0              0              0
  54  Cabinet         1.317          2.134          0.517          0              0              0
  55  Cabinet         1.317          2.134          4.889          0              0              0
  56  Cabinet         1.317          2.134          3.095          0              0              0
  57  Cabinet         0.443          0.422          0.743          0              0              0
  58  Cabinet         1.270          2.134          0.434          0              0              0
  59  Cabinet         -0.775         0.422          0.743          0              0              0
  60  Cabinet         -0.168         0.422          0.743          0              0              0
  61  Cabinet         1.317          2.134          1.534          0              0              0
  62  Cabinet         1.054          0.422          2.990          0              0              0
  63  Cabinet         1.054          0.422          2.944          0              0              0
  64  Cabinet         -0.263         2.134          0.434          0              0              0
  65  Cabinet         0.252          2.134          0.434          0              0              0
  66  Sink            1.391          1.006          2.326          0              0              0
  67  Microwave       0.108          0.981          0.262          0              0              0
  68  HousePlant      -0.165         0.826          6.444          0              0              0
  69  CoffeeMachine   1.551          0.982          0.953          0              270            0
  70  Toaster         1.473          0.981          4.715          0              270            0
  71  Window          -2.065         1.916          3.626          90             90             0
  72  Window          1.763          2.007          2.299          90             270            0
  73  Fridge          2.035          0.0            5.625          0              0              0
  74  SinkBasin       1.387          0.880          2.338          0              90             0
  75  GarbageCan      2.001          -0.044         6.503          0              0              0
  76  StoveKnob       1.140          0.934          3.987          45             270            0
  77  StoveKnob       1.140          0.934          4.309          45             270            0
  78  StoveKnob       1.140          0.934          4.140          45             270            0
  79  StoveKnob       1.140          0.934          3.824          45             270            0
  80  Vase            -0.226         0.834          6.993          0              0              0
  81  Vase            2.098          0.043          7.070          0              257.232        0
  82  Vase            -0.594         0.835          6.130          0              225            0
  83  LightSwitch     -2.0           1.549          6.045          0              90             0
  84  Safe            2.046          1.072          7.054          0              257.232        0
  85  Faucet          1.534          1.025          2.371          0              294.391        0
  86  Blinds          1.738          2.563          2.312          0              90             0
  87  DiningTable     -0.156         0.000          6.474          0              0              0
  88  Chair           0.291          0.002          6.142          0              310.162        0
  89  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: walk to the black kitchen table | STEP 2: grab a fork off of the black table | STEP 3: walk over to the microwave | STEP 4: place the fork inside a cup on the right side of the microwave | STEP 5: pick up the cup next to the microwave | STEP 6: bring the cup with the fork over black circle table | STEP 7: place the cup down on the black table | END