Task: Move a cup from the sink to the counter, placing a fork into it.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          0.75           0              0              0
   1  Potato          -2.485         1.125          -0.885         0              90             0              78
   2  Potato          -2.668         1.051          2.278          0              90             0              86
   3  ButterKnife     -0.341         0.910          0.423          0              0              0              46
   4  Kettle          -0.211         0.911          0.423          0              0              0              46
   5  Fork            -2.289         0.911          1.230          0              0              0              74
   6  Fork            1.769          0.911          0.465          0              180            0              55
   7  Fork            -2.372         0.911          0.331          0              0              0              63
   8  Spoon           0.048          0.912          0.647          0              0              0              46
   9  Spatula         -2.348         0.788          0.022          0              270            0              64
  10  Spatula         1.684          0.926          0.465          0              0              0              55
  11  Pot             1.412          0.929          -0.335         0              0              0              47
  12  Egg             -2.558         0.209          -1.123         0              90             0              78
  13  Cup             -2.390         0.207          -0.570         0              90             0              78
  14  Cup             -2.570         1.013          2.278          0              90             0              86
  15  Cup             1.426          0.916          -1.096         0              225            0              60
  16  SoapBottle      -2.206         0.912          1.830          0              0              0              74
  17  PepperShaker    -0.471         0.905          1.764          0              0              0              46
  18  SaltShaker      0.048          0.905          1.540          0              0              0              46
  19  SaltShaker      -2.704         0.905          1.530          0              0              0              74
  20  Lettuce         -2.455         0.994          0.931          0              0              0              74
  21  Bread           -0.341         0.996          1.094          0              0              0              46
  22  Mug             -2.559         0.589          -0.962         0              90             0              78
  23  Pan             0.0            0.9            0.948          0              29.999         0              46
  24  Knife           -2.227         0.798          0.022          0              270            0              64
  25  Apple           1.729          0.246          0.679          0              0              0              85
  26  Bowl            -2.572         1.930          -0.918         0              0              0              67
  27  Fork            -0.601         0.911          0.870          0              0              0              46
  28  Bread           -2.621         0.996          1.230          0              0              0              74
  29  Plate           -0.081         0.913          1.764          0              0              0              46
  30  Egg             1.396          0.952          -1.336         0              225            0              60
  31  Kettle          0.516          1.664          -1.729         0              90             0              53
  32  Potato          1.513          0.947          -0.726         0              0              0              56
  33  SaltShaker      -2.313         0.109          0.541          0              0              0              71
  34  Lettuce         -0.341         0.994          1.540          0              0              0              46
  35  Cup             1.380          0.916          -1.212         0              225            0              60
  36  SoapBottle      0.765          0.912          -1.478         0              45             0              56
  37  Spatula         -2.538         0.925          1.530          0              0              0              74
  38  PaperTowelRoll  1.604          0.289          0.651          0              0              0              85
  39  ButterKnife     -0.471         0.910          0.647          0              0              0              46
  40  PepperShaker    -2.564         1.532          0.052          0              0              0              69
  41  DishSponge      1.145          0.770          -1.376         0              225            0              84
  42  Pot             1.691          0.929          -0.335         0              0              0              54
  43  Spoon           1.291          0.922          -1.231         0              45             0              60
  44  Tomato          1.684          0.953          0.376          0              0              0              55
  45  Mug             -2.390         0.205          -1.012         0              180            0              78
  46  CounterTop      -0.360         0.946          1.093          0              0              0
  47  StoveBurner     1.412          0.923          -0.335         0              0              0
  48  StoveKnob       1.878          1.093          0.018          287.989        90             0
  49  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  50  Cabinet         -2.446         1.948          2.924          0              0              0
  51  Drawer          -2.276         0.792          0.902          0              0              0
  52  Cabinet         -2.145         0.402          1.578          0              0              0
  53  Cabinet         0.149          2.008          -1.603         0              90             0
  54  StoveBurner     1.691          0.923          -0.335         0              0              0
  55  CounterTop      1.585          0.946          0.405          0              0              0
  56  CounterTop      0.474          0.946          -1.625         0              0              0
  57  StoveBurner     1.691          0.923          0.064          0              0              0
  58  Cabinet         -2.446         1.948          1.687          0              0              0
  59  Cabinet         -2.446         1.948          1.640          0              0              0
  60  Sink            1.381          0.810          -1.271         0              225            0
  61  StoveKnob       1.878          1.093          0.150          287.989        90             0
  62  Cabinet         -2.145         0.402          -0.236         0              0              0
  63  Drawer          -2.276         0.792          0.437          0              0              0
  64  Drawer          -2.276         0.792          -0.027         0              0              0
  65  Cabinet         1.572          2.008          0.474          0              0              0
  66  Cabinet         1.572          2.008          -0.775         0              0              0
  67  Cabinet         -2.445         2.148          -1.275         0              0              0
  68  Cabinet         -2.446         2.148          -0.284         0              0              0
  69  Cabinet         -2.446         1.948          0.355          0              0              0
  70  Cabinet         -2.446         1.948          0.405          0              0              0
  71  Cabinet         -2.145         0.402          0.644          0              0              0
  72  Cabinet         -2.145         0.402          0.695          0              0              0
  73  Cabinet         -2.285         1.968          -1.325         0              180            0
  74  CounterTop      -1.485         0.946          1.319          0              0              0
  75  StoveBurner     1.411          0.923          0.064          0              0              0
  76  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  77  Drawer          -2.276         0.792          1.368          0              0              0
  78  Fridge          -2.475         0.0            -0.782         0              90             0
  79  LightSwitch     -0.929         1.350          -1.950         0              0              0
  80  Toaster         -2.564         0.900          1.876          0              90             0
  81  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  82  Window          1.508          1.534          -1.496         90             135            0
  83  Window          1.973          1.521          1.121          90             90             0
  84  SinkBasin       1.149          0.753          -1.380         0              225            0
  85  GarbageCan      1.646          -0.000         0.679          0              0              0
  86  Microwave       -2.580         0.900          2.440          0              90             0
  87  Stool           0.439          0.010          0.747          0              0              0
  88  Stool           -2.303         0.010          1.839          0              0              0
  89  Faucet          1.235          1.138          -1.473         0              225            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Turn right and walk to the sink.  | STEP 2: Pick up the cup closest to the spoon.  | STEP 3: Turn left and walk to the counter between the stove and trash bin.  | STEP 4: Place the cup on the counter.  | STEP 5: Pick up the fork behind the spatula.  | STEP 6: Place the fork in the cup.  | END