Task: Put a fork inside a cup on the 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           -1.5           0.901          4.5            0              0              0
   1  DishSponge      -2.995         0.900          2.441          0              0              0              74
   2  DishSponge      -2.323         0.661          0.464          0              0              0              61
   3  Spatula         -0.314         0.915          2.932          0              0              0              76
   4  Spatula         -1.353         0.810          0.337          0              180            0              71
   5  Egg             -2.706         0.968          3.209          0              0              0              60
   6  Egg             -0.228         0.933          3.133          0              0              0              76
   7  Plate           -2.805         0.636          4.278          0              90             0              70
   8  Plate           -0.747         1.777          0.160          0              0              0              51
   9  SoapBottle      -2.549         0.935          3.209          0              90             0              60
  10  SoapBottle      -2.136         1.773          0.114          0              0              0              49
  11  Bowl            -0.244         1.015          0.235          0              0              0              72
  12  SaltShaker      -0.143         0.896          3.133          0              0              0              76
  13  SaltShaker      -2.411         1.769          0.251          0              0              0              49
  14  PepperShaker    -0.228         0.896          3.334          0              0              0              76
  15  PepperShaker    -1.485         0.924          0.650          0              0              0              53
  16  Bread           -0.228         0.957          2.530          0              0              0              76
  17  Lettuce         -2.480         0.980          2.573          0              0              0              74
  18  Lettuce         -0.572         0.980          2.530          0              0              0              76
  19  Apple           -2.037         0.984          0.433          0              0              0              53
  20  Apple           -2.549         0.991          3.580          0              0              0              60
  21  Egg             -2.925         0.332          4.427          0              90             0              70
  22  Plate           -1.193         1.777          0.160          0              0              0              50
  23  Fork            -1.094         0.796          0.337          0              90             0              71
  24  Bread           -2.789         0.957          2.309          0              0              0              74
  25  Apple           -0.143         0.956          2.731          0              0              0              76
  26  Lettuce         -0.572         0.980          3.133          0              0              0              76
  27  Spatula         -1.637         0.943          0.264          0              90             0              53
  28  Knife           -1.878         0.688          0.464          0              270            0              56
  29  Potato          -1.007         0.822          0.226          0              0              0              71
  30  Tomato          -1.770         0.992          0.264          0              0              0              53
  31  Cup             -2.136         1.773          0.251          0              0              0              49
  32  SaltShaker      -2.943         0.931          3.209          0              0              0              60
  33  PepperShaker    -2.431         0.658          0.245          0              0              0              61
  34  ButterKnife     -1.353         0.795          0.337          0              270            0              71
  35  SoapBottle      -0.400         0.900          2.530          0              0              0              76
  36  Pan             -0.250         0.926          4.651          0              0              0              55
  37  DishSponge      -0.326         0.661          0.519          0              0              0              42
  38  Pot             -0.535         0.928          4.274          0              0              0              57
  39  Spoon           -0.572         0.901          2.932          0              0              0              76
  40  Mug             -1.358         1.768          0.251          0              0              0              50
  41  Bowl            -2.764         1.183          4.575          0              90             0              70
  42  Drawer          -0.325         0.696          0.413          0              0              0
  43  Cabinet         -0.595         0.490          0.648          0              0              0
  44  Cabinet         -0.555         0.490          0.646          0              0              0
  45  Cabinet         -1.591         0.490          0.646          0              0              0
  46  Cabinet         -1.554         0.490          0.646          0              0              0
  47  Cabinet         -2.550         0.490          0.646          0              0              0
  48  Cabinet         -1.514         2.046          0.392          0              0              0
  49  Cabinet         -2.474         2.046          0.392          0              0              0
  50  Cabinet         -1.478         2.046          0.392          0              0              0
  51  Cabinet         -0.518         2.046          0.392          0              0              0
  52  Cabinet         -0.479         2.046          0.392          0              0              0
  53  CounterTop      -1.366         0.952          0.349          0              0              0
  54  Sink            -1.108         0.926          0.340          0              0              0
  55  StoveBurner     -0.254         0.922          4.672          0              0              0
  56  Drawer          -1.824         0.696          0.413          0              0              0
  57  StoveBurner     -0.535         0.922          4.274          0              0              0
  58  StoveBurner     -0.254         0.922          4.274          0              0              0
  59  StoveBurner     -0.536         0.922          4.672          0              0              0
  60  CounterTop      -2.780         0.971          3.487          0              0              0
  61  Drawer          -2.323         0.696          0.413          0              0              0
  62  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  66  Toaster         -0.286         0.861          3.520          0              270            0
  67  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  68  LightSwitch     -0.064         1.447          1.996          0              270            0
  69  Window          -3.075         1.593          1.361          90             90             0
  70  Fridge          -2.802         0.0            4.427          0              0              0
  71  SinkBasin       -1.106         0.785          0.337          0              0              0
  72  Microwave       -0.358         0.917          0.224          0              0              0
  73  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  74  DiningTable     -2.733         -0.003         2.607          0              270            0
  75  Faucet          -1.077         0.920          0.028          270            270            0
  76  DiningTable     -0.488         -0.003         3.182          0              270            0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Turn around and go to the sink. | STEP 2: Pick up the fork from the sink. | STEP 3: Move to the right and look up at the upper right cabinet. | STEP 4: Put the fork in the cup in the cabinet. | STEP 5: Pick up the cup with the fork in it. | STEP 6: Turn around and go to the white table on your left. | STEP 7: Put the cup with the fork on the table. | END