Task: Move a cup and fork over to the sink basin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          -0.5           0              180            0
   1  Pan             1.691          0.929          -0.335         0              0              0              52
   2  Potato          -2.558         0.214          -0.680         0              270            0              76
   3  DishSponge      -2.310         0.114          1.007          0              0              0              70
   4  Kettle          -2.605         1.939          -0.634         0              0              0              67
   5  Kettle          1.412          0.929          -0.335         0              0              0              45
   6  Spoon           -2.538         0.912          0.331          0              0              0              72
   7  Pot             -2.289         0.914          0.031          0              0              0              72
   8  Pot             -2.289         0.914          0.931          0              0              0              72
   9  Egg             1.729          0.215          0.651          0              0              0              83
  10  Cup             -2.559         0.592          -0.872         0              90             0              76
  11  Cup             -2.564         1.535          0.125          0              0              0              67
  12  Cup             -2.538         1.013          2.481          0              90             0              84
  13  Plate           -0.341         0.913          1.540          0              0              0              44
  14  Knife           -2.196         0.798          0.022          0              270            0              62
  15  Knife           -2.318         0.798          1.322          0              90             0              75
  16  SoapBottle      1.341          0.913          0.435          0              0              0              53
  17  SoapBottle      1.604          0.187          0.651          0              0              0              83
  18  PepperShaker    -2.206         0.905          1.230          0              0              0              72
  19  Bread           -2.621         0.996          1.530          0              0              0              72
  20  Mug             -2.313         0.109          0.541          0              0              0              69
  21  Pan             0.0            0.9            0.948          0              29.999         0              44
  22  Knife           -2.257         0.798          0.391          0              90             0              61
  23  Apple           -2.289         0.972          1.830          0              0              0              72
  24  Bowl            -2.372         0.908          1.530          0              0              0              72
  25  Fork            -0.211         0.911          1.317          0              180            0              44
  26  Bread           -0.341         0.996          0.647          0              0              0              44
  27  Plate           -0.341         0.913          1.094          0              0              0              44
  28  Egg             -2.347         1.331          -0.790         0              90             0              76
  29  Kettle          0.854          0.900          -1.790         0              0              0              54
  30  Potato          -0.341         0.947          0.423          0              0              0              44
  31  SaltShaker      1.771          1.651          0.387          0              0              0              63
  32  Lettuce         -0.730         0.994          1.764          0              0              0              44
  33  Cup             0.445          1.661          -1.839         0              90             0              51
  34  SoapBottle      1.380          0.920          -1.212         0              225            0              58
  35  Spatula         -2.287         0.788          -0.121         0              90             0              62
  36  PaperTowelRoll  1.771          0.289          0.734          0              0              0              83
  37  ButterKnife     1.598          0.911          0.465          0              0              0              53
  38  PepperShaker    0.048          0.905          0.647          0              0              0              44
  39  DishSponge      -2.560         1.537          0.846          0              0              0              68
  40  Pot             1.691          0.929          0.064          0              0              0              55
  41  Spoon           -2.455         0.912          1.230          0              0              0              72
  42  Tomato          1.428          0.953          -0.768         0              0              0              58
  43  Mug             0.464          0.955          -1.593         0              0              0              54
  44  CounterTop      -0.360         0.946          1.093          0              0              0
  45  StoveBurner     1.412          0.923          -0.335         0              0              0
  46  StoveKnob       1.878          1.093          0.018          287.989        90             0
  47  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  48  Cabinet         -2.446         1.948          2.924          0              0              0
  49  Drawer          -2.276         0.792          0.902          0              0              0
  50  Cabinet         -2.145         0.402          1.578          0              0              0
  51  Cabinet         0.149          2.008          -1.603         0              90             0
  52  StoveBurner     1.691          0.923          -0.335         0              0              0
  53  CounterTop      1.585          0.946          0.405          0              0              0
  54  CounterTop      0.474          0.946          -1.625         0              0              0
  55  StoveBurner     1.691          0.923          0.064          0              0              0
  56  Cabinet         -2.446         1.948          1.687          0              0              0
  57  Cabinet         -2.446         1.948          1.640          0              0              0
  58  Sink            1.381          0.810          -1.271         0              225            0
  59  StoveKnob       1.878          1.093          0.150          287.989        90             0
  60  Cabinet         -2.145         0.402          -0.236         0              0              0
  61  Drawer          -2.276         0.792          0.437          0              0              0
  62  Drawer          -2.276         0.792          -0.027         0              0              0
  63  Cabinet         1.572          2.008          0.474          0              0              0
  64  Cabinet         1.572          2.008          -0.775         0              0              0
  65  Cabinet         -2.445         2.148          -1.275         0              0              0
  66  Cabinet         -2.446         2.148          -0.284         0              0              0
  67  Cabinet         -2.446         1.948          0.355          0              0              0
  68  Cabinet         -2.446         1.948          0.405          0              0              0
  69  Cabinet         -2.145         0.402          0.644          0              0              0
  70  Cabinet         -2.145         0.402          0.695          0              0              0
  71  Cabinet         -2.285         1.968          -1.325         0              180            0
  72  CounterTop      -1.485         0.946          1.319          0              0              0
  73  StoveBurner     1.411          0.923          0.064          0              0              0
  74  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  75  Drawer          -2.276         0.792          1.368          0              0              0
  76  Fridge          -2.475         0.0            -0.782         0              90             0
  77  LightSwitch     -0.929         1.350          -1.950         0              0              0
  78  Toaster         -2.564         0.900          1.876          0              90             0
  79  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  80  Window          1.508          1.534          -1.496         90             135            0
  81  Window          1.973          1.521          1.121          90             90             0
  82  SinkBasin       1.149          0.753          -1.380         0              225            0
  83  GarbageCan      1.646          -0.000         0.679          0              0              0
  84  Microwave       -2.580         0.900          2.440          0              90             0
  85  Stool           0.439          0.010          0.747          0              0              0
  86  Stool           -2.303         0.010          1.839          0              0              0
  87  Faucet          1.235          1.138          -1.473         0              225            0
  88  NorthWall
  89  EastWall
  90  SouthWall
  91  WestWall

Plan:
STEP 1: Turn left then head to the kitchen island counter top where the fork is | STEP 2: Pick up the fork on top of the counter top | STEP 3: Carry the fork to the upper cabinet that is to the right of the fridge above the counter | STEP 4: Open the cabinet, place the fork in the cup inside of the cabinet | STEP 5: Pick up the cup with the fork in it inside of the cabinet | STEP 6: Carry the cup and fork to the kitchen sink | STEP 7: Place the cup and fork in the sink basin | END