Task: put a fork in a cup and put them on the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.914          2.25           0              180            0
   1  Pan             -0.323         0.985          4.051          0              0              0              65
   2  DishSponge      -3.368         0.915          1.524          0              0              0              48
   3  WineBottle      -1.224         0.088          3.788          0              270            0              71
   4  WineBottle      -1.127         0.892          0.049          0              90             0              75
   5  Kettle          -3.176         0.916          1.524          0              0              0              48
   6  Kettle          -2.359         0.082          3.625          0              0              0              50
   7  Spatula         -3.368         0.930          2.844          0              0              0              39
   8  Fork            -3.272         0.916          1.357          0              0              0              48
   9  Egg             -1.655         0.926          0.152          0              90             0              75
  10  Egg             -1.439         0.950          3.890          0              0              0              39
  11  Cup             -1.921         0.789          3.662          0              0              0              69
  12  Cup             -3.272         0.915          3.499          0              0              0              39
  13  Bowl            -1.259         0.890          0.358          0              90             0              75
  14  Bowl            -3.537         1.545          2.224          0              90             0              70
  15  PepperShaker    -1.523         0.887          -0.053         0              90             0              75
  16  Egg             -3.463         0.950          1.357          0              0              0              48
  17  Knife           -1.787         0.915          0.461          0              270            0              75
  18  Fork            -1.259         0.892          0.255          0              180            0              75
  19  Bread           -1.259         0.972          0.564          0              90             0              75
  20  Potato          -0.994         0.929          -0.053         0              90             0              75
  21  Plate           -3.005         0.904          3.677          0              0              0              39
  22  Pot             -3.144         0.963          2.374          0              0              0              42
  23  Kettle          -0.994         0.892          0.358          0              90             0              75
  24  WineBottle      -3.559         0.916          1.106          0              0              0              48
  25  Bowl            -3.654         0.914          1.607          0              0              0              48
  26  Tomato          -2.126         0.984          4.146          0              0              0              39
  27  Cup             -0.323         0.722          3.817          0              180            0              65
  28  Spatula         -1.793         0.804          3.7            0              180            0              69
  29  SoapBottle      -2.718         0.080          3.701          0              0              0              51
  30  Lettuce         -1.759         0.974          0.085          0              0              0              75
  31  Pan             -3.424         0.966          1.971          0              0              0              47
  32  Apple           -3.505         1.606          2.068          0              90             0              70
  33  SaltShaker      -3.068         0.743          2.916          0              0              0              41
  34  PepperShaker    -3.041         0.077          2.752          0              0              0              52
  35  ButterKnife     -1.523         0.891          0.358          0              90             0              75
  36  DishSponge      -3.113         0.083          1.278          0              0              0              58
  37  Spoon           -2.402         0.916          3.998          0              0              0              39
  38  Mug             -3.368         0.910          1.106          0              0              0              48
  39  CounterTop      -3.381         0.950          3.335          0              0              0
  40  Drawer          -3.121         0.775          1.357          0              0              0
  41  Drawer          -3.121         0.777          2.916          0              0              0
  42  StoveBurner     -3.148         0.958          2.374          0              0              0
  43  Sink            -1.797         0.917          3.660          0              0              0
  44  Cabinet         -1.421         0.388          3.459          0              0              0
  45  StoveBurner     -3.424         0.958          2.374          0              0              0
  46  Cabinet         -3.365         1.931          2.676          0              0              0
  47  StoveBurner     -3.424         0.958          1.971          0              0              0
  48  CounterTop      -3.381         0.951          1.356          0              0              0
  49  Drawer          -3.121         0.781          3.295          0              0              0
  50  Cabinet         -2.205         0.388          3.459          0              0              0
  51  Cabinet         -2.963         0.388          3.459          0              0              0
  52  Cabinet         -2.992         0.388          2.683          0              0              0
  53  Cabinet         -3.352         2.205          1.715          0              0              0
  54  Cabinet         -3.352         2.205          2.653          0              0              0
  55  Cabinet         -2.189         0.388          3.466          0              0              0
  56  Cabinet         -3.365         1.931          3.963          0              0              0
  57  Cabinet         -3.365         1.931          1.056          0              0              0
  58  Cabinet         -2.992         0.388          1.037          0              0              0
  59  StoveBurner     -3.143         0.958          1.971          0              0              0
  60  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  61  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  62  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  63  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  64  Toaster         -2.654         0.902          4.064          0              180            0
  65  Fridge          -0.439         0.014          3.996          0              0              0
  66  LightSwitch     0.25           1.383          2.085          0              270            0
  67  Window          -1.430         1.338          -0.347         90             0              0
  68  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  69  SinkBasin       -1.802         0.778          3.700          0              0              0
  70  Microwave       -3.484         1.430          2.182          0              90             0
  71  GarbageCan      -1.184         -0.020         3.794          0              270            0
  72  Blinds          -1.404         2.092          -0.296         0              0              0
  73  Stool           -1.373         0.014          1.048          1.214          20.754         0
  74  Faucet          -1.788         0.903          3.931          270            90             0
  75  DiningTable     -1.399         0.010          0.238          0              0              0
  76  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: go the counter to the left of the stove | STEP 2: pick up the fork from the counter | STEP 3: take the fork to the other counter | STEP 4: put the fork in the cup on the left | STEP 5: pick up the cup with the fork in it | STEP 6: take the cup to the white table | STEP 7: put the cup with the fork on the table | END