Task: put the fork from the sink to the cup in the refrigerator, move the cup to the table by it

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           1.124          2.0            0              180            0
   1  DishSponge      0.563          1.322          -3.121         0              0              0              44
   2  WineBottle      -1.610         0.281          2.193          0              270            0              59
   3  Kettle          -0.630         1.331          -3.301         0              180            0              41
   4  Fork            -1.530         1.323          1.419          0              0              0              44
   5  Fork            0.766          1.323          -0.942         0              0              0              44
   6  Pot             -0.239         1.331          -3.301         0              180            0              39
   7  Cup             1.213          1.307          0.861          0              270            0              69
   8  Plate           -1.682         0.344          1.420          0              0              0              45
   9  Bowl            0.896          1.321          -2.424         0              0              0              44
  10  SaltShaker      -1.954         0.338          1.523          0              0              0              45
  11  Bread           -2.049         1.397          -1.681         0              0              0              44
  12  Bread           -1.237         1.397          -3.314         0              0              0              44
  13  Lettuce         -2.004         1.412          -1.255         0              0              0              51
  14  Lettuce         -1.451         1.399          -2.870         0              0              0              44
  15  Mug             -1.401         1.318          -2.201         0              0              0              44
  16  Bread           -1.513         1.380          0.662          0              0              0              44
  17  Pot             -0.749         1.332          -2.973         0              0              0              47
  18  Knife           -2.049         1.352          -2.981         0              0              0              44
  19  Bowl            -1.790         1.321          0.770          0              0              0              44
  20  Potato          -1.401         1.362          -2.461         0              0              0              44
  21  SoapBottle      -1.727         0.344          -2.362         0              0              0              40
  22  Fork            -1.890         1.051          -0.542         0              0              0              62
  23  Cup             -1.681         0.341          0.512          0              0              0              42
  24  Kettle          -1.691         1.310          -3.156         0              150.000        0              44
  25  Egg             -1.522         1.363          -3.314         0              0              0              44
  26  Pan             -1.881         0.327          -2.035         0              0              0              40
  27  SaltShaker      0.766          1.318          -1.312         0              0              0              44
  28  WineBottle      -2.179         1.323          -2.981         0              0              0              44
  29  Lettuce         1.017          1.751          1.604          0              270            0              57
  30  Spatula         1.025          1.337          -2.424         0              90             0              44
  31  PaperTowelRoll  0.206          1.427          -3.121         0              0              0              44
  32  Tomato          -2.093         1.368          -0.911         0              0              0              51
  33  Plate           -2.049         1.323          0.770          0              0              0              44
  34  PepperShaker    -1.790         1.318          -1.941         0              0              0              44
  35  DishSponge      1.129          0.344          -2.164         0              180            0              43
  36  Spoon           -2.004         1.337          -0.911         0              0              0              51
  37  Apple           -1.915         1.384          -1.049         0              0              0              51
  38  Mug             1.056          1.752          2.230          0              270            0              57
  39  StoveBurner     -0.239         1.325          -3.301         0              180            0
  40  Cabinet         -1.461         0.775          -2.002         0              0              0
  41  StoveBurner     -0.630         1.325          -3.301         0              180            0
  42  Cabinet         -1.461         0.775          0.470          0              0              0
  43  Cabinet         0.578          0.776          -2.054         0              0              0
  44  CounterTop      -1.809         1.358          1.182          0              0              0
  45  Cabinet         -1.461         0.775          1.310          0              0              0
  46  Faucet          -2.063         1.362          -0.726         0              39.391         0
  47  StoveBurner     -0.749         1.325          -2.973         0              0              0
  48  Drawer          -1.610         0.681          -0.430         0              0              0
  49  Window          -2.566         1.799          -0.822         270            0              0
  50  Drawer          -1.610         0.681          -1.217         0              0              0
  51  Sink            -1.990         1.143          -0.975         0              0              0
  52  StoveBurner     -0.125         1.325          -2.973         0              0              0
  53  StoveKnob       -0.185         1.338          -2.741         0              270            180
  54  StoveKnob       -0.336         1.338          -2.741         0              270            180
  55  StoveKnob       -0.569         1.338          -2.741         0              270            180
  56  StoveKnob       -0.707         1.338          -2.741         0              270            180
  57  Fridge          1.013          0.227          1.917          0              270            0
  58  Microwave       0.994          1.310          -2.163         0              270            0
  59  GarbageCan      -1.633         0.212          2.192          0              270            0
  60  LightSwitch     1.386          1.565          -0.657         0              270            0
  61  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  62  SinkBasin       -1.835         1.039          -0.542         0              0              0
  63  ButterKnife     0.873          0.468          0.651          0              0              0
  64  Toaster         -1.885         1.310          -2.512         0              90             0
  65  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  66  Drawer          0.647          1.061          0.680          0              270            0
  67  Drawer          0.648          1.061          1.020          0              270            0
  68  Drawer          0.648          0.843          1.020          0              270            0
  69  SideTable       0.975          0.220          0.869          0              270            0
  70  Drawer          0.648          0.602          0.680          0              270            0
  71  Drawer          0.648          0.596          1.020          0              270            0
  72  Drawer          0.648          0.843          0.680          0              270            0
  73  Stool           0.606          0.222          -1.084         1.233          280.489        0
  74  NorthWall
  75  EastWall
  76  SouthWall
  77  WestWall

Plan:
STEP 1: walk straight, to the sink on the right | STEP 2: grab the fork from the sink | STEP 3: turn right, walk to the end, turn right, walk to the refrigerator | STEP 4: open the refrigerator, put the fork in the white cup | STEP 5: take the white cup out of refrigerator, close the refrigerator | STEP 6: turn right, walk to the microwave on the left | STEP 7: put down the cup on the table in front of the microwave | END