Task: Put the cup with fork into the kitchen sink

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          0.0            0              270            0
   1  Pan             1.813          0.911          1.107          0              90             0              74
   2  Potato          1.802          0.935          -1.610         0              0              0              74
   3  CellPhone       1.658          0.761          1.292          0              270            0              80
   4  CellPhone       -1.874         0.909          -1.513         0              0              0              74
   5  Ladle           0.250          0.157          -1.345         0              0              0              63
   6  DishSponge      -0.106         0.925          1.202          0              0              0              82
   7  DishSponge      -1.105         0.113          -1.423         0              0              0              86
   8  Fork            -1.462         0.912          -1.513         0              270            0              74
   9  Fork            1.866          0.580          0.462          0              90             0              78
  10  Fork            -0.088         0.760          -1.435         0              0              0              98
  11  Spoon           0.107          0.926          0.970          0              0              0              82
  12  Spoon           1.661          0.348          0.667          0              0              0              68
  13  Spatula         1.714          0.136          0.599          0              270            0              66
  14  Spatula         -0.261         0.775          -1.546         0              90             0              98
  15  Pot             -0.844         0.915          -1.318         0              0              0              74
  16  Pot             -0.106         0.929          0.273          0              0              0              82
  17  Cup             -1.692         0.561          -0.175         0              90             0              97
  18  Plate           -1.237         1.678          -1.614         0              0              0              76
  19  SoapBottle      -0.361         0.118          -1.409         0              0              0              53
  20  Tomato          -0.106         0.980          0.041          0              0              0              82
  21  Bowl            1.924          1.657          -1.204         0              270            0              62
  22  SaltShaker      -0.320         0.921          0.041          0              0              0              82
  23  SaltShaker      -1.050         0.907          -1.415         0              0              0              74
  24  Bread           -0.320         1.006          0.506          0              0              0              82
  25  Lettuce         -0.175         0.837          -1.380         0              0              0              98
  26  Mug             1.355          0.955          -1.362         0              0              0              96
  27  Apple           -1.463         0.964          -0.914         0              0              0              74
  28  Apple           -1.803         1.729          -0.175         0              90             0              97
  29  SoapBottle      0.214          0.929          0.970          0              0              0              82
  30  Cup             1.892          1.004          -0.651         0              270            0              95
  31  Pot             1.975          0.938          0.819          0              180            0              84
  32  Fork            0.321          0.926          0.738          0              0              0              82
  33  Ladle           -1.727         0.955          -0.964         0              0              0              74
  34  Kettle          0.214          0.926          -0.190         0              0              0              82
  35  Egg             0.170          0.817          -1.380         0              0              0              98
  36  Plate           -1.697         1.467          -0.175         0              90             0              97
  37  Pan             -1.286         0.9            -1.348         0              79.769         0              74
  38  Lettuce         -1.902         0.988          -1.013         0              0              0              74
  39  Spatula         0.083          0.775          -1.490         0              90             0              98
  40  Apple           0.170          0.813          -1.546         0              0              0              98
  41  Knife           1.802          0.933          -1.513         0              0              0              74
  42  SaltShaker      1.095          1.675          -1.690         0              0              0              73
  43  PepperShaker    -0.213         0.921          1.202          0              0              0              82
  44  CellPhone       0.214          0.923          0.506          0              0              0              82
  45  ButterKnife     1.640          0.911          1.408          0              0              0              74
  46  Bread           -1.668         0.992          -1.610         0              0              0              74
  47  Tomato          -0.320         0.980          0.970          0              0              0              82
  48  Potato          1.924          1.030          -0.808         0              270            0              95
  49  DishSponge      1.662          0.460          1.350          0              0              0              72
  50  Spoon           1.932          0.912          -0.053         0              180            0              74
  51  Mug             2.020          1.001          -0.651         0              0              0              95
  52  Bowl            0.321          0.924          0.041          0              0              0              82
  53  Cabinet         -0.495         0.474          -1.149         0              0              0
  54  Window          -0.010         1.582          -1.821         0              0              0
  55  Drawer          0.805          0.475          -1.159         0              0              0
  56  StoveBurner     1.764          0.902          0.601          0              270            0
  57  Drawer          1.5            0.196          -0.019         0              0              0
  58  Drawer          1.5            0.629          -0.018         0              0              0
  59  Drawer          1.5            0.602          -0.019         0              270            0
  60  StoveBurner     1.975          0.902          0.384          0              270            0
  61  Cabinet         -1.703         2.022          -1.453         0              90             0
  62  Cabinet         1.789          2.019          -0.819         0              270            0
  63  Cabinet         0.494          0.474          -1.149         0              0              0
  64  Cabinet         0.409          0.475          0.444          0              0              0
  65  Drawer          -0.696         0.475          -1.159         0              0              0
  66  Drawer          1.5            0.140          0.599          0              270            0
  67  Cabinet         1.389          0.474          -1.149         0              0              0
  68  Drawer          1.5            0.305          0.600          0              0              0
  69  StoveBurner     1.975          0.902          0.601          0              270            0
  70  Drawer          1.5            0.429          -0.019         0              0              0
  71  StoveBurner     1.764          0.902          0.819          0              270            0
  72  Drawer          1.5            0.519          1.220          0              0              0
  73  Cabinet         1.705          2.019          -1.449         0              0              0
  74  CounterTop      0.002          0.947          -1.513         0              0              0
  75  Drawer          1.5            0.629          0.605          0              0              0
  76  Cabinet         -0.627         2.019          -1.449         0              0              0
  77  StoveBurner     1.764          0.902          0.384          0              270            0
  78  Drawer          1.5            0.538          0.600          0              0              0
  79  Sink            0.0            0.893          -1.434         0              0              0
  80  Drawer          1.5            0.782          1.220          0              270            0
  81  Window          2.217          1.565          -0.384         0              0              0
  82  CounterTop      -0.014         0.961          0.505          0              0              0
  83  Drawer          1.5            0.200          1.220          0              0              0
  84  StoveBurner     1.975          0.902          0.819          0              270            0
  85  Window          -3.240         1.616          2.693          0              270            0
  86  Cabinet         -1.389         0.474          -1.149         0              0              0
  87  LightSwitch     -0.153         1.291          3.700          0              180            0
  88  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  89  StoveKnob       1.602          0.917          0.570          0              270            180
  90  StoveKnob       1.602          0.917          0.625          0              270            180
  91  StoveKnob       1.602          0.917          0.739          0              270            180
  92  StoveKnob       1.602          0.917          0.680          0              270            180
  93  StoveKnob       1.602          0.917          0.462          0              270            180
  94  StoveKnob       1.602          0.917          0.517          0              270            180
  95  Microwave       1.932          0.899          -0.766         0              270            0
  96  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  97  Fridge          -1.764         0.0            0.014          0              90             0
  98  SinkBasin       -0.014         0.736          -1.435         0              0              0
  99  Toaster         1.977          0.900          -0.336         0              270            0
 100  Faucet          -0.020         1.137          -1.605         0              270            0
 101  Chair           -9.354         0.000          1.242          0              180            0
 102  NorthWall
 103  EastWall
 104  SouthWall
 105  WestWall

Plan:
STEP 1: Turn left and walk to the kitchen sink | STEP 2: Pick up the metal fork from the kitchen sink | STEP 3: Turn right and walk around the kitchen to the fridge | STEP 4: Put the fork into the cup inside the fridge | STEP 5: Pick up the cup from the fridge | STEP 6: Turn left and walk back over to the kitchen sink | STEP 7: Put the cup with fork into the kitchen sink | END