Task: Put a cup with a fork in it on a white table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.901          2.0            0              270            0
   1  ButterKnife     -0.314         0.900          2.731          0              0              0              79
   2  Spatula         -0.228         0.915          2.731          0              0              0              79
   3  Spatula         -2.485         0.677          0.355          0              90             0              64
   4  Spoon           -0.380         0.663          0.519          0              0              0              45
   5  Spoon           -2.549         0.936          3.673          0              90             0              63
   6  Fork            -0.433         0.662          0.300          0              90             0              45
   7  Fork            -0.218         0.662          0.464          0              0              0              45
   8  Fork            -2.480         0.901          2.309          0              0              0              77
   9  Cup             -1.303         1.773          0.114          0              0              0              53
  10  SoapBottle      -2.628         0.935          3.580          0              90             0              63
  11  SoapBottle      -2.583         0.900          2.573          0              90             0              77
  12  Tomato          -0.572         0.964          3.535          0              0              0              79
  13  Tomato          -1.770         0.992          0.264          0              0              0              56
  14  Bowl            -2.995         0.897          2.045          0              0              0              77
  15  Bowl            -2.037         0.924          0.433          0              0              0              56
  16  SaltShaker      -1.637         0.924          0.602          0              0              0              56
  17  PepperShaker    -0.400         0.896          3.133          0              0              0              79
  18  Lettuce         -0.572         0.980          3.133          0              0              0              79
  19  Lettuce         -2.377         0.980          2.441          0              0              0              77
  20  Mug             -1.007         0.790          0.226          0              0              0              74
  21  Mug             -0.486         0.895          2.731          0              0              0              79
  22  Apple           -2.864         0.991          3.209          0              0              0              63
  23  Apple           -0.297         1.074          0.171          0              0              0              75
  24  Egg             -0.572         0.933          2.530          0              0              0              79
  25  Plate           -0.249         1.777          0.205          0              0              0              55
  26  Fork            -2.789         0.901          2.706          0              0              0              77
  27  Bread           -2.789         0.957          2.309          0              0              0              77
  28  Apple           -2.037         0.984          0.264          0              0              0              56
  29  Lettuce         -0.486         0.980          2.329          0              0              0              79
  30  Spatula         -1.094         0.810          0.337          0              0              0              74
  31  Knife           -0.394         0.896          3.227          90             225            0              79
  32  Potato          -0.486         0.926          2.932          0              0              0              79
  33  Tomato          -2.706         0.999          3.209          0              0              0              63
  34  Cup             -2.785         0.298          4.352          0              90             0              73
  35  SaltShaker      -2.269         0.658          0.409          0              0              0              64
  36  PepperShaker    -0.400         0.896          2.731          0              0              0              79
  37  ButterKnife     -0.228         0.900          2.329          0              0              0              79
  38  SoapBottle      -2.480         0.900          2.706          0              0              0              77
  39  Pan             -0.535         0.928          4.274          0              0              0              60
  40  DishSponge      -2.191         1.773          0.205          0              0              0              52
  41  Pot             -2.476         0.889          2.050          0              0              0              77
  42  Spoon           -0.228         0.901          3.133          0              180            0              79
  43  Mug             -2.549         0.930          3.209          0              0              0              63
  44  Bowl            -2.847         0.629          4.501          0              90             0              73
  45  Drawer          -0.325         0.696          0.413          0              0              0
  46  Cabinet         -0.595         0.490          0.648          0              0              0
  47  Cabinet         -0.555         0.490          0.646          0              0              0
  48  Cabinet         -1.591         0.490          0.646          0              0              0
  49  Cabinet         -1.554         0.490          0.646          0              0              0
  50  Cabinet         -2.550         0.490          0.646          0              0              0
  51  Cabinet         -1.514         2.046          0.392          0              0              0
  52  Cabinet         -2.474         2.046          0.392          0              0              0
  53  Cabinet         -1.478         2.046          0.392          0              0              0
  54  Cabinet         -0.518         2.046          0.392          0              0              0
  55  Cabinet         -0.479         2.046          0.392          0              0              0
  56  CounterTop      -1.366         0.952          0.349          0              0              0
  57  Sink            -1.108         0.926          0.340          0              0              0
  58  StoveBurner     -0.254         0.922          4.672          0              0              0
  59  Drawer          -1.824         0.696          0.413          0              0              0
  60  StoveBurner     -0.535         0.922          4.274          0              0              0
  61  StoveBurner     -0.254         0.922          4.274          0              0              0
  62  StoveBurner     -0.536         0.922          4.672          0              0              0
  63  CounterTop      -2.780         0.971          3.487          0              0              0
  64  Drawer          -2.323         0.696          0.413          0              0              0
  65  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  66  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  67  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  68  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  69  Toaster         -0.286         0.861          3.520          0              270            0
  70  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  71  LightSwitch     -0.064         1.447          1.996          0              270            0
  72  Window          -3.075         1.593          1.361          90             90             0
  73  Fridge          -2.802         0.0            4.427          0              0              0
  74  SinkBasin       -1.106         0.785          0.337          0              0              0
  75  Microwave       -0.358         0.917          0.224          0              0              0
  76  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  77  DiningTable     -2.733         -0.003         2.607          0              270            0
  78  Faucet          -1.077         0.920          0.028          270            270            0
  79  DiningTable     -0.488         -0.003         3.182          0              270            0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn right and take a step forward, then turn left and walk up to the white table. | STEP 2: Pick up the metal fork off of the table. | STEP 3: Turn around and walk towards the table, then hang a right and walk up to the sink and look up at the upper cabinets. | STEP 4: Open the cabinet door in front of you and place the metal fork inside the cup that is inside. | STEP 5: Take the cup with the fork in it out of the cabinet and close the cabinet door. | STEP 6: Turn around and begin walking across the room, then hang a right and walk up to the white table against the wall. | STEP 7: Place the cup with the fork in it in the middle of the front edge of the table. | END