Task: put a cup with a fork in it in the sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          3.0            0              180            0
   1  Potato          -0.213         0.949          1.202          0              0              0              78
   2  Ladle           0.305          0.157          -1.471         0              0              0              59
   3  Ladle           1.661          0.281          -0.088         0              0              0              53
   4  Kettle          -1.841         1.663          -1.282         0              90             0              57
   5  ButterKnife     -0.106         0.925          0.970          0              0              0              78
   6  Spoon           -0.213         0.926          0.970          0              0              0              78
   7  Spoon           1.769          0.584          -0.238         0              0              0              55
   8  Spatula         1.764          0.252          0.116          0              270            0              53
   9  Spatula         0.214          0.940          0.506          0              90             0              78
  10  Pot             0.170          0.764          -1.435         0              0              0              94
  11  Egg             -1.648         0.896          -0.175         0              90             0              93
  12  Cup             -1.151         0.111          -1.233         0              0              0              82
  13  Knife           0.214          0.947          0.041          0              90             0              78
  14  SoapBottle      -0.320         0.929          0.273          0              0              0              78
  15  SoapBottle      -1.902         0.915          -0.864         0              0              0              70
  16  Bowl            1.802          0.909          -1.318         0              0              0              70
  17  SaltShaker      0.107          0.921          0.970          0              0              0              78
  18  SaltShaker      0.853          0.667          -1.362         0              0              0              51
  19  PepperShaker    -0.106         0.921          0.041          0              0              0              78
  20  PepperShaker    1.812          0.541          1.284          0              0              0              68
  21  Bread           0.107          1.006          0.273          0              0              0              78
  22  Lettuce         -0.213         1.002          -0.190         0              0              0              78
  23  Lettuce         -0.106         1.002          0.738          0              0              0              78
  24  Mug             -1.771         1.024          -0.081         0              90             0              93
  25  SoapBottle      0.661          0.915          -1.221         0              0              0              70
  26  Cup             -1.256         0.909          -1.707         0              0              0              70
  27  Pot             1.975          0.938          0.819          0              180            0              80
  28  Fork            -1.639         0.912          -1.063         0              0              0              70
  29  Ladle           1.562          0.589          1.284          0              90             0              68
  30  Kettle          -1.880         1.663          -0.980         0              90             0              57
  31  Egg             -1.721         0.620          0.295          0              90             0              93
  32  Plate           1.726          0.910          1.107          0              0              0              70
  33  Pan             -1.286         0.9            -1.348         0              79.769         0              70
  34  Lettuce         0.107          1.002          0.738          0              0              0              78
  35  Spatula         1.760          0.710          0.543          0              0              0              71
  36  Apple           -1.771         1.082          0.107          0              90             0              93
  37  Knife           0.214          0.947          0.970          0              0              0              78
  38  SaltShaker      -1.336         0.109          -1.423         0              0              0              82
  39  PepperShaker    0.194          0.109          -1.220         0              0              0              59
  40  CellPhone       0.321          0.923          -0.190         0              0              0              78
  41  ButterKnife     1.769          0.763          1.365          0              90             0              76
  42  Bread           -1.750         1.756          -0.175         0              90             0              93
  43  Tomato          1.559          0.966          -0.289         0              0              0              70
  44  Potato          -1.697         1.492          0.013          0              90             0              93
  45  DishSponge      0.321          0.925          0.506          0              0              0              78
  46  Spoon           1.810          0.696          -0.145         0              0              0              54
  47  Mug             -0.175         0.755          -1.380         0              0              0              94
  48  Bowl            -0.249         0.113          -1.347         0              0              0              49
  49  Cabinet         -0.495         0.474          -1.149         0              0              0
  50  Window          -0.010         1.582          -1.821         0              0              0
  51  Drawer          0.805          0.475          -1.159         0              0              0
  52  StoveBurner     1.764          0.902          0.601          0              270            0
  53  Drawer          1.5            0.196          -0.019         0              0              0
  54  Drawer          1.5            0.629          -0.018         0              0              0
  55  Drawer          1.5            0.602          -0.019         0              270            0
  56  StoveBurner     1.975          0.902          0.384          0              270            0
  57  Cabinet         -1.703         2.022          -1.453         0              90             0
  58  Cabinet         1.789          2.019          -0.819         0              270            0
  59  Cabinet         0.494          0.474          -1.149         0              0              0
  60  Cabinet         0.409          0.475          0.444          0              0              0
  61  Drawer          -0.696         0.475          -1.159         0              0              0
  62  Drawer          1.5            0.140          0.599          0              270            0
  63  Cabinet         1.389          0.474          -1.149         0              0              0
  64  Drawer          1.5            0.305          0.600          0              0              0
  65  StoveBurner     1.975          0.902          0.601          0              270            0
  66  Drawer          1.5            0.429          -0.019         0              0              0
  67  StoveBurner     1.764          0.902          0.819          0              270            0
  68  Drawer          1.5            0.519          1.220          0              0              0
  69  Cabinet         1.705          2.019          -1.449         0              0              0
  70  CounterTop      0.002          0.947          -1.513         0              0              0
  71  Drawer          1.5            0.629          0.605          0              0              0
  72  Cabinet         -0.627         2.019          -1.449         0              0              0
  73  StoveBurner     1.764          0.902          0.384          0              270            0
  74  Drawer          1.5            0.538          0.600          0              0              0
  75  Sink            0.0            0.893          -1.434         0              0              0
  76  Drawer          1.5            0.782          1.220          0              270            0
  77  Window          2.217          1.565          -0.384         0              0              0
  78  CounterTop      -0.014         0.961          0.505          0              0              0
  79  Drawer          1.5            0.200          1.220          0              0              0
  80  StoveBurner     1.975          0.902          0.819          0              270            0
  81  Window          -3.240         1.616          2.693          0              270            0
  82  Cabinet         -1.389         0.474          -1.149         0              0              0
  83  LightSwitch     -0.153         1.291          3.700          0              180            0
  84  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  85  StoveKnob       1.602          0.917          0.570          0              270            180
  86  StoveKnob       1.602          0.917          0.625          0              270            180
  87  StoveKnob       1.602          0.917          0.739          0              270            180
  88  StoveKnob       1.602          0.917          0.680          0              270            180
  89  StoveKnob       1.602          0.917          0.462          0              270            180
  90  StoveKnob       1.602          0.917          0.517          0              270            180
  91  Microwave       1.932          0.899          -0.766         0              270            0
  92  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  93  Fridge          -1.764         0.0            0.014          0              90             0
  94  SinkBasin       -0.014         0.736          -1.435         0              0              0
  95  Toaster         1.977          0.900          -0.336         0              270            0
  96  Faucet          -0.020         1.137          -1.605         0              270            0
  97  Chair           -9.354         0.000          1.242          0              180            0
  98  NorthWall
  99  EastWall
 100  SouthWall
 101  WestWall

Plan:
STEP 1: go over to the kitchen counter left of the fridge | STEP 2: grab a fork off of the counter there | STEP 3: turn to the left to face the kitchen counter  | STEP 4: open the cabinet below and put the fork in a cup in the cabinet | STEP 5: pick up that same cup with the fork in it | STEP 6: bring the cup over to the kitchen sink | STEP 7: put the cup in the sink | END