Task: Put a cup with fork in 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           -1.5           0.901          4.25           0              90             0
   1  DishSponge      -2.686         0.900          2.309          0              0              0              72
   2  Fork            -1.007         0.796          0.392          0              270            0              69
   3  Fork            -2.377         0.662          0.409          0              0              0              59
   4  Pot             -0.572         0.900          2.530          0              0              0              74
   5  Pot             -0.535         0.928          4.274          0              0              0              55
   6  Egg             -0.350         1.056          0.108          0              0              0              70
   7  Egg             -2.892         0.933          2.573          0              0              0              72
   8  Knife           -0.433         0.688          0.464          0              270            0              40
   9  Knife           -2.037         0.953          0.602          0              0              0              51
  10  SoapBottle      -2.170         0.927          0.348          0              0              0              51
  11  SoapBottle      -2.628         0.935          3.488          0              0              0              58
  12  Bowl            -1.636         1.770          0.205          0              0              0              46
  13  SaltShaker      -0.692         1.769          0.297          0              0              0              48
  14  PepperShaker    -2.995         0.896          2.441          0              0              0              72
  15  PepperShaker    -2.377         0.896          2.309          0              0              0              72
  16  Lettuce         -2.785         0.378          4.278          0              90             0              68
  17  Lettuce         -0.400         0.980          2.731          0              180            0              74
  18  Apple           -2.722         1.242          4.575          0              90             0              68
  19  Egg             -0.350         1.051          0.299          0              0              0              70
  20  Plate           -0.447         0.890          2.927          0              0              0              74
  21  Fork            -0.572         0.901          3.334          0              90             0              74
  22  Bread           -2.864         0.940          1.983          0              0              0              72
  23  Apple           -0.403         1.079          0.171          0              0              0              70
  24  Lettuce         -2.377         0.980          2.573          0              0              0              72
  25  Spatula         -2.480         0.915          2.441          0              90             0              72
  26  Knife           -2.686         0.926          2.177          0              0              0              72
  27  Potato          -2.583         0.926          2.309          0              0              0              72
  28  Tomato          -2.789         0.964          2.573          0              0              0              72
  29  Cup             -1.138         1.773          0.297          0              0              0              48
  30  SaltShaker      -2.686         0.896          2.177          0              0              0              72
  31  PepperShaker    -1.716         0.658          0.245          0              0              0              54
  32  ButterKnife     -0.921         0.795          0.337          0              0              0              69
  33  SoapBottle      -0.572         0.900          2.731          0              0              0              74
  34  Pan             -0.250         0.926          4.651          0              0              0              53
  35  DishSponge      -0.228         0.900          2.530          0              0              0              74
  36  Pot             -0.572         0.900          3.133          0              180            0              74
  37  Spoon           -2.215         0.663          0.409          0              0              0              59
  38  Mug             -2.878         0.294          4.427          0              90             0              68
  39  Bowl            -2.943         0.932          3.209          0              0              0              58
  40  Drawer          -0.325         0.696          0.413          0              0              0
  41  Cabinet         -0.595         0.490          0.648          0              0              0
  42  Cabinet         -0.555         0.490          0.646          0              0              0
  43  Cabinet         -1.591         0.490          0.646          0              0              0
  44  Cabinet         -1.554         0.490          0.646          0              0              0
  45  Cabinet         -2.550         0.490          0.646          0              0              0
  46  Cabinet         -1.514         2.046          0.392          0              0              0
  47  Cabinet         -2.474         2.046          0.392          0              0              0
  48  Cabinet         -1.478         2.046          0.392          0              0              0
  49  Cabinet         -0.518         2.046          0.392          0              0              0
  50  Cabinet         -0.479         2.046          0.392          0              0              0
  51  CounterTop      -1.366         0.952          0.349          0              0              0
  52  Sink            -1.108         0.926          0.340          0              0              0
  53  StoveBurner     -0.254         0.922          4.672          0              0              0
  54  Drawer          -1.824         0.696          0.413          0              0              0
  55  StoveBurner     -0.535         0.922          4.274          0              0              0
  56  StoveBurner     -0.254         0.922          4.274          0              0              0
  57  StoveBurner     -0.536         0.922          4.672          0              0              0
  58  CounterTop      -2.780         0.971          3.487          0              0              0
  59  Drawer          -2.323         0.696          0.413          0              0              0
  60  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  61  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  62  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  64  Toaster         -0.286         0.861          3.520          0              270            0
  65  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  66  LightSwitch     -0.064         1.447          1.996          0              270            0
  67  Window          -3.075         1.593          1.361          90             90             0
  68  Fridge          -2.802         0.0            4.427          0              0              0
  69  SinkBasin       -1.106         0.785          0.337          0              0              0
  70  Microwave       -0.358         0.917          0.224          0              0              0
  71  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  72  DiningTable     -2.733         -0.003         2.607          0              270            0
  73  Faucet          -1.077         0.920          0.028          270            270            0
  74  DiningTable     -0.488         -0.003         3.182          0              270            0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: Turn right, move to the sink. | STEP 2: Pick up the fork in the sink.  | STEP 3: Bring the fork to the cabinet above the sink. | STEP 4: Open the cabinet above the sink and put the fork in the orange cup in the cabinet. | STEP 5: Pick up the orange cup with fork in the cabinet.  | STEP 6: Bring the cup with fork down from the cabinet, turn around all the way to face the sink.  | STEP 7: Put the cup with fork in the sink. | END