Task: place a cup with a fork in it in the sink on the right

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          -0.5           0              180            0
   1  Pan             1.361          0.962          0.561          0              270            0              51
   2  Potato          -2.222         0.541          -1.763         0              0              0              76
   3  DishSponge      -2.477         0.951          0.614          0              90             0              79
   4  Fork            0.341          0.776          -1.552         0              180            0              69
   5  Fork            0.649          0.920          -1.649         0              270            0              44
   6  Spoon           -1.099         0.774          -1.505         0              0              0              59
   7  Cup             1.830          0.106          0.348          0              0              0              54
   8  Knife           0.167          0.937          0.458          0              0              0              45
   9  SoapBottle      -1.928         0.950          0.614          0              90             0              79
  10  Tomato          -0.394         0.119          0.525          0              90             0              75
  11  Tomato          -2.222         1.100          -1.763         0              0              0              76
  12  PepperShaker    1.663          0.908          0.209          0              0              0              61
  13  Bread           1.785          0.995          0.375          0              0              0              61
  14  Mug             -1.791         0.947          0.345          0              90             0              79
  15  Mug             -2.065         0.947          0.255          0              90             0              79
  16  Mug             0.649          0.914          -1.582         0              270            0              44
  17  Bread           -1.928         1.035          0.435          0              90             0              79
  18  Knife           0.035          0.937          0.292          0              90             0              45
  19  Fork            1.907          0.912          0.623          0              0              0              61
  20  Bowl            1.167          0.911          -1.489         0              0              0              46
  21  Kettle          1.361          0.962          0.294          0              180            0              41
  22  Cup             0.804          0.917          -1.582         0              270            0              44
  23  Tomato          -2.047         1.541          -1.763         0              0              0              76
  24  SoapBottle      1.535          1.327          -1.736         0              180            0              62
  25  Plate           -0.096         0.913          0.623          0              0              0              45
  26  Pot             1.007          0.962          0.561          0              270            0              48
  27  Spatula         -2.614         0.967          0.704          0              180            0              79
  28  PaperTowelRoll  0.009          1.016          -1.654         0              0              0              46
  29  Egg             -0.975         1.050          -1.803         0              0              0              68
  30  Lettuce         1.658          1.002          -1.654         0              0              0              46
  31  SaltShaker      0.621          0.106          0.383          0              0              0              57
  32  PepperShaker    1.717          0.104          0.348          0              0              0              54
  33  Apple           1.601          0.979          0.706          0              0              0              61
  34  ButterKnife     -1.928         0.952          0.524          0              180            0              79
  35  Potato          -0.394         0.100          0.655          0              90             0              75
  36  Pan             1.022          0.959          0.288          0              219.190        0              58
  37  DishSponge      -2.340         0.951          0.524          0              90             0              79
  38  Spoon           -1.791         0.953          0.524          0              90             0              79
  39  Mug             -0.267         0.907          -1.571         0              0              0              46
  40  Cabinet         -0.193         1.688          -1.648         0              180            0
  41  StoveBurner     1.360          0.957          0.293          0              180            0
  42  Drawer          0.499          0.792          0.296          0              0              0
  43  Cabinet         0.095          0.400          -1.352         0              180            0
  44  Sink            0.711          0.817          -1.772         0              270            0
  45  CounterTop      0.280          0.947          0.458          0              0              0
  46  CounterTop      -0.680         0.947          -1.654         0              0              0
  47  Drawer          1.825          0.792          0.296          0              0              0
  48  StoveBurner     1.007          0.957          0.561          0              270            0
  49  Drawer          -0.150         0.792          -1.496         0              0              0
  50  Drawer          -0.586         0.792          -1.496         0              0              0
  51  StoveBurner     1.360          0.957          0.561          0              270            0
  52  Drawer          0.024          0.792          0.296          0              0              0
  53  Cabinet         1.079          0.400          -1.349         0              180            0
  54  Cabinet         1.669          0.402          0.151          0              0              0
  55  Cabinet         0.055          0.402          -1.351         0              0              0
  56  Cabinet         -0.180         0.402          0.151          0              0              0
  57  Cabinet         0.729          0.402          0.151          0              0              0
  58  StoveBurner     1.007          0.957          0.293          0              180            0
  59  Drawer          -1.100         0.792          -1.496         0              0              0
  60  Cabinet         -0.396         0.402          -1.351         0              0              0
  61  CounterTop      1.776          0.947          0.458          0              0              0
  62  Cabinet         1.974          1.688          -1.648         0              180            0
  63  Cabinet         -0.820         0.400          -1.349         0              180            0
  64  Toaster         0.305          0.900          0.552          0              180            0
  65  LightSwitch     -2.756         1.307          -0.987         0              90             0
  66  Window          0.582          1.613          -1.967         90             0              0
  67  Window          1.969          1.5            -0.615         90             270            0
  68  Microwave       -1.037         0.900          -1.723         0              0              0
  69  SinkBasin       0.377          0.765          -1.655         0              270            0
  70  CoffeeMachine   0.618          0.900          0.600          0              180            0
  71  StoveKnob       1.246          0.913          0.118          45             180            0
  72  StoveKnob       1.373          0.913          0.118          45             180            0
  73  StoveKnob       0.995          0.913          0.118          45             180            0
  74  StoveKnob       1.126          0.913          0.118          45             180            0
  75  GarbageCan      -0.368         -0.029         0.539          0              90             0
  76  Fridge          -2.134         0.0            -1.690         0              0              0
  77  Faucet          0.549          1.046          -1.833         0              232.527        0
  78  Stool           -1.475         0.000          0.414          1.233          280.375        0
  79  DiningTable     -2.255         -0.004         0.432          0              0              0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: turn left and head to the end of the kitchen, then turn right to face the sink | STEP 2: grab a cup with a fork in it off of the sink on the left | STEP 3: move to the right a bit and face the sink on the right | STEP 4: place the cup into the sink on the right | END