Task: Place cup containing a fork on a table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.901          2.0            0              0              0
   1  Potato          -2.789         0.926          2.309          0              0              0              75
   2  DishSponge      -2.892         0.900          2.441          0              0              0              75
   3  ButterKnife     -0.400         0.900          2.731          0              0              0              77
   4  Spatula         -0.218         0.677          0.519          0              270            0              43
   5  Spatula         -2.377         0.915          2.573          0              90             0              75
   6  Fork            -2.377         0.901          2.045          0              90             0              75
   7  Fork            -2.583         0.901          2.045          0              90             0              75
   8  Fork            -2.215         0.662          0.409          0              0              0              62
   9  Pot             -0.535         0.928          4.274          0              0              0              58
  10  Egg             -0.403         1.051          0.171          0              0              0              73
  11  Egg             -2.681         1.219          4.427          0              90             0              71
  12  Plate           -2.831         0.303          4.352          0              90             0              71
  13  Plate           -2.301         1.777          0.205          0              0              0              50
  14  Knife           -2.706         0.961          3.395          0              270            0              61
  15  SoapBottle      -0.249         1.773          0.205          0              0              0              53
  16  SoapBottle      -2.583         0.900          2.706          0              0              0              75
  17  SaltShaker      -1.085         0.924          0.650          0              0              0              54
  18  SaltShaker      -1.911         1.769          0.114          0              0              0              49
  19  Lettuce         -0.314         0.980          2.530          0              0              0              77
  20  Lettuce         -0.572         0.980          2.329          0              0              0              77
  21  Mug             -0.297         1.018          0.267          0              0              0              73
  22  Egg             -2.583         0.933          2.309          0              0              0              75
  23  Plate           -2.805         1.190          4.575          0              90             0              71
  24  Fork            -2.480         0.901          1.913          0              0              0              75
  25  Bread           -2.864         0.940          1.983          0              0              0              75
  26  Apple           -2.037         0.984          0.602          0              0              0              54
  27  Lettuce         -0.657         0.980          3.334          0              0              0              77
  28  Spatula         -1.932         0.677          0.519          0              270            0              57
  29  Knife           -0.228         0.926          2.932          0              90             0              77
  30  Potato          -2.644         0.325          4.352          0              90             0              71
  31  Tomato          -2.847         1.250          4.278          0              90             0              71
  32  Cup             -1.904         0.927          0.433          0              0              0              54
  33  SaltShaker      -0.272         0.658          0.245          0              0              0              43
  34  PepperShaker    -2.628         0.931          3.580          0              0              0              61
  35  ButterKnife     -2.892         0.900          2.706          0              0              0              75
  36  SoapBottle      -2.480         0.900          2.441          0              0              0              75
  37  Pan             -0.250         0.926          4.651          0              0              0              56
  38  DishSponge      -2.781         0.053          0.352          0              26.101         0              68
  39  Pot             -0.572         0.900          3.133          0              0              0              77
  40  Spoon           -2.789         0.901          2.573          0              0              0              75
  41  Mug             -2.628         0.930          3.673          0              180            0              61
  42  Bowl            -1.746         1.770          0.251          0              0              0              49
  43  Drawer          -0.325         0.696          0.413          0              0              0
  44  Cabinet         -0.595         0.490          0.648          0              0              0
  45  Cabinet         -0.555         0.490          0.646          0              0              0
  46  Cabinet         -1.591         0.490          0.646          0              0              0
  47  Cabinet         -1.554         0.490          0.646          0              0              0
  48  Cabinet         -2.550         0.490          0.646          0              0              0
  49  Cabinet         -1.514         2.046          0.392          0              0              0
  50  Cabinet         -2.474         2.046          0.392          0              0              0
  51  Cabinet         -1.478         2.046          0.392          0              0              0
  52  Cabinet         -0.518         2.046          0.392          0              0              0
  53  Cabinet         -0.479         2.046          0.392          0              0              0
  54  CounterTop      -1.366         0.952          0.349          0              0              0
  55  Sink            -1.108         0.926          0.340          0              0              0
  56  StoveBurner     -0.254         0.922          4.672          0              0              0
  57  Drawer          -1.824         0.696          0.413          0              0              0
  58  StoveBurner     -0.535         0.922          4.274          0              0              0
  59  StoveBurner     -0.254         0.922          4.274          0              0              0
  60  StoveBurner     -0.536         0.922          4.672          0              0              0
  61  CounterTop      -2.780         0.971          3.487          0              0              0
  62  Drawer          -2.323         0.696          0.413          0              0              0
  63  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  66  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  67  Toaster         -0.286         0.861          3.520          0              270            0
  68  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  69  LightSwitch     -0.064         1.447          1.996          0              270            0
  70  Window          -3.075         1.593          1.361          90             90             0
  71  Fridge          -2.802         0.0            4.427          0              0              0
  72  SinkBasin       -1.106         0.785          0.337          0              0              0
  73  Microwave       -0.358         0.917          0.224          0              0              0
  74  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  75  DiningTable     -2.733         -0.003         2.607          0              270            0
  76  Faucet          -1.077         0.920          0.028          270            270            0
  77  DiningTable     -0.488         -0.003         3.182          0              270            0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn to your left and head the to white table | STEP 2: Pick up the fork that is sitting on the table closest to you | STEP 3: Turn left and walk to the counter directly in front of you | STEP 4: Place the fork in the gold cup | STEP 5: Pick up the gold cup containing the fork | STEP 6: Turn around and head to the white table that is on your right. | STEP 7: Place the gold cup on the table in front of you | END