Task: Move a cup and fork to 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           0.25           0.900          0.0            0              90             0
   1  DishSponge      -0.471         0.910          0.870          0              0              0              41
   2  Fork            1.426          0.921          -1.096         0              225            0              55
   3  Spoon           -0.601         0.912          1.094          0              0              0              41
   4  Spatula         -2.206         0.925          0.631          0              0              0              69
   5  Spatula         -2.318         0.789          0.343          0              90             0              58
   6  Cup             1.310          0.917          -1.142         0              225            0              55
   7  Cup             1.356          0.916          -1.026         0              225            0              55
   8  Plate           -0.081         0.913          0.423          0              0              0              41
   9  Knife           -2.227         0.799          0.486          0              270            0              58
  10  Tomato          -0.341         0.953          1.094          0              0              0              41
  11  Bowl            -2.439         1.086          -0.885         0              90             0              73
  12  PepperShaker    -2.313         0.109          1.423          0              0              0              47
  13  PepperShaker    -2.645         1.532          -0.165         0              0              0              64
  14  Bread           -0.211         0.996          1.317          0              0              0              41
  15  Mug             -2.349         0.109          0.437          0              0              0              66
  16  Mug             -2.277         0.109          1.267          0              0              0              47
  17  Apple           -2.374         0.656          -0.603         0              90             0              73
  18  Pan             1.412          0.929          -0.335         0              0              0              42
  19  Knife           -2.379         0.799          1.322          0              90             0              72
  20  Apple           -2.513         0.656          -1.051         0              90             0              73
  21  Bowl            -2.485         1.297          -0.790         0              90             0              73
  22  Fork            1.598          0.911          0.465          0              0              0              50
  23  Bread           -0.471         0.996          1.764          0              0              0              41
  24  Plate           1.735          1.666          -0.622         0              0              0              61
  25  Egg             1.221          0.949          -1.161         0              225            0              55
  26  Kettle          -2.609         1.934          -1.150         0              0              0              68
  27  Potato          -2.669         0.214          -1.012         0              90             0              73
  28  SaltShaker      1.650          0.905          -0.997         0              45             0              51
  29  Lettuce         0.048          0.994          0.870          0              0              0              41
  30  Cup             -2.603         1.013          2.481          0              90             0              81
  31  SoapBottle      1.388          0.920          -1.274         0              225            0              55
  32  Spatula         -2.287         0.789          1.322          0              90             0              72
  33  PaperTowelRoll  1.604          0.289          0.734          0              0              0              80
  34  ButterKnife     1.697          0.910          -0.846         0              45             0              51
  35  PepperShaker    -2.599         1.533          2.129          0              0              0              53
  36  DishSponge      1.442          0.910          -0.789         0              45             0              51
  37  Pot             1.411          0.929          0.064          0              0              0              70
  38  Spoon           -2.318         0.775          0.809          0              90             0              46
  39  Tomato          -2.578         1.342          -0.507         0              90             0              73
  40  Mug             0.464          0.955          -1.593         0              0              0              51
  41  CounterTop      -0.360         0.946          1.093          0              0              0
  42  StoveBurner     1.412          0.923          -0.335         0              0              0
  43  StoveKnob       1.878          1.093          0.018          287.989        90             0
  44  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  45  Cabinet         -2.446         1.948          2.924          0              0              0
  46  Drawer          -2.276         0.792          0.902          0              0              0
  47  Cabinet         -2.145         0.402          1.578          0              0              0
  48  Cabinet         0.149          2.008          -1.603         0              90             0
  49  StoveBurner     1.691          0.923          -0.335         0              0              0
  50  CounterTop      1.585          0.946          0.405          0              0              0
  51  CounterTop      0.474          0.946          -1.625         0              0              0
  52  StoveBurner     1.691          0.923          0.064          0              0              0
  53  Cabinet         -2.446         1.948          1.687          0              0              0
  54  Cabinet         -2.446         1.948          1.640          0              0              0
  55  Sink            1.381          0.810          -1.271         0              225            0
  56  StoveKnob       1.878          1.093          0.150          287.989        90             0
  57  Cabinet         -2.145         0.402          -0.236         0              0              0
  58  Drawer          -2.276         0.792          0.437          0              0              0
  59  Drawer          -2.276         0.792          -0.027         0              0              0
  60  Cabinet         1.572          2.008          0.474          0              0              0
  61  Cabinet         1.572          2.008          -0.775         0              0              0
  62  Cabinet         -2.445         2.148          -1.275         0              0              0
  63  Cabinet         -2.446         2.148          -0.284         0              0              0
  64  Cabinet         -2.446         1.948          0.355          0              0              0
  65  Cabinet         -2.446         1.948          0.405          0              0              0
  66  Cabinet         -2.145         0.402          0.644          0              0              0
  67  Cabinet         -2.145         0.402          0.695          0              0              0
  68  Cabinet         -2.285         1.968          -1.325         0              180            0
  69  CounterTop      -1.485         0.946          1.319          0              0              0
  70  StoveBurner     1.411          0.923          0.064          0              0              0
  71  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  72  Drawer          -2.276         0.792          1.368          0              0              0
  73  Fridge          -2.475         0.0            -0.782         0              90             0
  74  LightSwitch     -0.929         1.350          -1.950         0              0              0
  75  Toaster         -2.564         0.900          1.876          0              90             0
  76  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  77  Window          1.508          1.534          -1.496         90             135            0
  78  Window          1.973          1.521          1.121          90             90             0
  79  SinkBasin       1.149          0.753          -1.380         0              225            0
  80  GarbageCan      1.646          -0.000         0.679          0              0              0
  81  Microwave       -2.580         0.900          2.440          0              90             0
  82  Stool           0.439          0.010          0.747          0              0              0
  83  Stool           -2.303         0.010          1.839          0              0              0
  84  Faucet          1.235          1.138          -1.473         0              225            0
  85  NorthWall
  86  EastWall
  87  SouthWall
  88  WestWall

Plan:
STEP 1: Move to the left hand side of the kitchen sink where the fork and cup are | STEP 2: Pick up the cup and fork on the counter left of the sink that are furthest left | STEP 3: Carry the fork and cup to face the sink basin | STEP 4: Place the cup and fork in the sink basin | END