Task: Place glass with fork in left 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           0.901          -0.5           0              0              0
   1  Pan             2.140          0.935          1.504          0              180            0              46
   2  Potato          1.065          0.835          2.584          0              0              0              75
   3  WineBottle      1.920          0.938          1.964          0              0              0              51
   4  Ladle           2.205          1.993          1.563          0              0              0              56
   5  DishSponge      1.954          0.746          1.922          0              0              0              66
   6  DishSponge      1.906          0.745          0.583          0              0              0              60
   7  ButterKnife     0.060          0.937          2.688          0              90             0              51
   8  Spatula         0.060          0.952          2.688          0              0              0              51
   9  Spoon           1.941          0.747          0.446          0              0              0              60
  10  Fork            1.917          0.938          0.509          0              0              0              62
  11  Fork            0.033          0.791          1.049          0              90             0              78
  12  Fork            0.576          0.795          2.695          0              270            0              75
  13  Cup             2.168          1.321          -0.369         0              270            0              72
  14  Knife           0.037          0.771          1.925          0              90             0              50
  15  Tomato          -0.425         0.837          1.217          0              0              0              78
  16  Tomato          -0.272         0.983          2.451          0              0              0              51
  17  Lettuce         0.033          0.852          0.377          0              0              0              78
  18  Mug             1.964          0.077          1.915          0              0              0              47
  19  Apple           -0.328         1.085          2.121          0              90             0              76
  20  Egg             -0.272         0.833          1.049          0              0              0              78
  21  Lettuce         2.164          0.664          -0.369         0              270            0              72
  22  Fork            1.802          0.746          0.583          0              90             0              60
  23  SoapBottle      -0.272         0.791          1.217          0              0              0              78
  24  Ladle           1.298          0.125          2.523          0              0              0              57
  25  Ladle           0.779          0.125          2.523          0              0              0              58
  26  Bread           -0.199         0.823          0.813          0              0              0              78
  27  SaltShaker      2.071          0.933          0.806          0              0              0              62
  28  Potato          2.000          1.363          -0.460         0              270            0              72
  29  Pan             2.140          0.935          1.106          0              0              0              53
  30  WineBottle      -0.358         0.038          -0.737         0              90             0              73
  31  Spatula         -0.119         0.805          1.049          0              90             0              78
  32  Knife           -0.042         0.816          1.049          0              90             0              78
  33  Tomato          0.033          0.837          0.881          0              0              0              78
  34  Apple           2.079          0.652          -0.550         0              270            0              72
  35  ButterKnife     1.790          0.937          2.434          0              0              0              51
  36  Pot             1.854          0.937          1.497          0              0              0              55
  37  PepperShaker    0.033          0.785          0.713          0              0              0              78
  38  Cup             2.241          1.501          0.755          0              0              0              59
  39  DishSponge      -0.425         0.790          1.049          0              0              0              78
  40  Plate           2.206          1.505          2.010          0              0              0              54
  41  Spoon           -0.042         0.792          0.377          0              0              0              78
  42  Mug             2.064          0.989          2.462          0              225            0              77
  43  Bowl            2.207          0.599          -0.007         0              270            0              72
  44  Cabinet         2.041          2.113          2.618          0              0              0
  45  Cabinet         0.126          0.388          1.774          0              0              0
  46  StoveBurner     2.140          0.929          1.504          0              180            0
  47  Cabinet         1.760          0.388          2.346          0              0              0
  48  Cabinet         1.760          0.388          0.869          0              0              0
  49  Cabinet         2.041          1.810          0.283          0              0              0
  50  Drawer          -0.024         0.774          2.061          0              0              0
  51  CounterTop      1.065          0.973          2.666          0              0              0
  52  Cabinet         1.969          2.113          2.618          0              0              0
  53  StoveBurner     2.140          0.929          1.106          0              0              0
  54  Cabinet         2.041          2.113          1.809          0              0              0
  55  StoveBurner     1.866          0.929          1.504          0              180            0
  56  Cabinet         2.041          2.113          1.766          0              0              0
  57  Cabinet         1.514          0.388          2.360          0              0              0
  58  Cabinet         0.351          0.388          2.360          0              0              0
  59  Cabinet         2.041          1.810          0.872          0              0              0
  60  Drawer          2.167          0.774          0.582          0              0              0
  61  Cabinet         2.041          2.113          0.892          0              0              0
  62  CounterTop      2.060          0.973          0.583          0              0              0
  63  Sink            0.935          0.936          2.646          0              0              0
  64  Curtains        0.964          2.061          2.989          0              0              0
  65  StoveBurner     1.863          0.929          1.106          0              0              0
  66  Drawer          1.911          0.774          2.060          0              0              0
  67  StoveKnob       2.326          1.092          1.610          288.013        90             0
  68  StoveKnob       2.326          1.092          1.460          288.013        90             0
  69  StoveKnob       2.326          1.092          1.210          288.013        90             0
  70  StoveKnob       2.326          1.092          1.050          288.013        90             0
  71  Toaster         2.126          0.926          0.572          0              270            0
  72  Fridge          2.104          0.0            -0.279         0              270            0
  73  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  74  LightSwitch     0.354          1.518          -1.031         0              0              0
  75  SinkBasin       0.903          0.784          2.640          0              0              0
  76  Microwave       -0.310         0.926          2.077          0              90             0
  77  CoffeeMachine   2.084          0.927          2.667          0              225            0
  78  DiningTable     -0.153         -0.000         1.073          0              270            0
  79  Faucet          1.175          0.926          2.950          270            90             0
  80  Faucet          0.686          0.926          2.950          270            90             0
  81  Chair           -0.077         0.002          0.196          0              15.000         0
  82  NorthWall
  83  EastWall
  84  SouthWall
  85  WestWall

Plan:
STEP 1: go forward to left sink | STEP 2: pick up fork from in sink | STEP 3: turn around, go to upper cabinet above left side of toaster to right of stove | STEP 4: open cabinet, place fork in glass in cabinet, | STEP 5: pick up glass with fork from cabinet, close cabinet | STEP 6: turn left, go to sink | STEP 7: place glass with fork in left sink | END