Task: Put a cup with a fork in it in a 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           0.901          2.0            0              270            0
   1  WineBottle      1.085          0.082          2.601          0              0              0              61
   2  WineBottle      -0.348         0.938          2.504          0              0              0              55
   3  Ladle           1.976          0.791          0.721          0              270            0              64
   4  DishSponge      2.227          0.937          1.964          0              0              0              55
   5  Spatula         1.997          0.952          2.063          0              180            0              55
   6  Spoon           -0.272         0.792          1.386          0              0              0              82
   7  Spoon           1.223          0.796          2.64           0              180            0              79
   8  Fork            1.815          0.747          2.060          0              90             0              70
   9  Egg             2.127          1.561          -0.550         0              270            0              76
  10  Cup             -0.349         0.789          1.217          0              0              0              82
  11  Cup             2.304          0.935          2.359          0              0              0              55
  12  Plate           2.206          1.505          2.425          0              0              0              48
  13  SoapBottle      -0.358         0.038          -0.832         0              90             0              77
  14  Tomato          2.168          1.369          -0.369         0              270            0              76
  15  Tomato          1.840          0.984          0.509          0              0              0              66
  16  Bowl            2.206          1.498          2.010          0              0              0              58
  17  SaltShaker      0.033          0.785          0.713          0              90             0              82
  18  SaltShaker      0.850          0.076          2.601          0              0              0              62
  19  PepperShaker    1.840          0.933          0.361          0              0              0              66
  20  PepperShaker    0.033          0.785          0.377          0              0              0              82
  21  Lettuce         -0.042         0.852          1.049          0              180            0              82
  22  Apple           2.056          1.373          -0.460         0              270            0              76
  23  Apple           -0.261         1.085          1.907          0              90             0              80
  24  Egg             0.033          0.833          1.386          0              0              0              82
  25  Lettuce         0.033          0.852          0.881          0              0              0              82
  26  Fork            -0.196         0.791          1.217          0              0              0              82
  27  SoapBottle      2.301          0.939          0.361          0              180            0              66
  28  Ladle           -0.103         0.791          2.197          0              270            0              54
  29  Ladle           1.872          0.791          0.446          0              90             0              64
  30  Bread           -0.199         0.823          0.813          0              0              0              82
  31  SaltShaker      2.074          0.932          2.260          0              0              0              55
  32  Potato          1.556          0.977          2.434          0              0              0              55
  33  Pan             2.140          0.935          1.106          0              0              0              57
  34  WineBottle      1.227          0.082          2.523          0              0              0              61
  35  Spatula         1.884          0.761          2.197          0              270            0              70
  36  Knife           1.954          0.771          1.922          0              90             0              70
  37  Tomato          1.844          0.983          2.063          0              0              0              55
  38  Apple           -0.328         1.085          2.068          0              90             0              80
  39  ButterKnife     -0.053         0.937          2.827          0              0              0              55
  40  Pot             2.140          0.935          1.504          0              180            0              50
  41  PepperShaker    -0.425         0.785          0.881          0              0              0              82
  42  Cup             2.223          1.321          -0.007         0              270            0              76
  43  DishSponge      0.637          0.080          2.562          0              0              0              62
  44  Plate           -0.312         0.781          0.409          0              0              0              82
  45  Spoon           -0.138         0.747          1.925          0              90             0              54
  46  Mug             1.440          0.076          2.562          0              0              0              61
  47  Bowl            2.205          1.945          1.193          0              0              0              65
  48  Cabinet         2.041          2.113          2.618          0              0              0
  49  Cabinet         0.126          0.388          1.774          0              0              0
  50  StoveBurner     2.140          0.929          1.504          0              180            0
  51  Cabinet         1.760          0.388          2.346          0              0              0
  52  Cabinet         1.760          0.388          0.869          0              0              0
  53  Cabinet         2.041          1.810          0.283          0              0              0
  54  Drawer          -0.024         0.774          2.061          0              0              0
  55  CounterTop      1.065          0.973          2.666          0              0              0
  56  Cabinet         1.969          2.113          2.618          0              0              0
  57  StoveBurner     2.140          0.929          1.106          0              0              0
  58  Cabinet         2.041          2.113          1.809          0              0              0
  59  StoveBurner     1.866          0.929          1.504          0              180            0
  60  Cabinet         2.041          2.113          1.766          0              0              0
  61  Cabinet         1.514          0.388          2.360          0              0              0
  62  Cabinet         0.351          0.388          2.360          0              0              0
  63  Cabinet         2.041          1.810          0.872          0              0              0
  64  Drawer          2.167          0.774          0.582          0              0              0
  65  Cabinet         2.041          2.113          0.892          0              0              0
  66  CounterTop      2.060          0.973          0.583          0              0              0
  67  Sink            0.935          0.936          2.646          0              0              0
  68  Curtains        0.964          2.061          2.989          0              0              0
  69  StoveBurner     1.863          0.929          1.106          0              0              0
  70  Drawer          1.911          0.774          2.060          0              0              0
  71  StoveKnob       2.326          1.092          1.610          288.013        90             0
  72  StoveKnob       2.326          1.092          1.460          288.013        90             0
  73  StoveKnob       2.326          1.092          1.210          288.013        90             0
  74  StoveKnob       2.326          1.092          1.050          288.013        90             0
  75  Toaster         2.126          0.926          0.572          0              270            0
  76  Fridge          2.104          0.0            -0.279         0              270            0
  77  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  78  LightSwitch     0.354          1.518          -1.031         0              0              0
  79  SinkBasin       0.903          0.784          2.640          0              0              0
  80  Microwave       -0.310         0.926          2.077          0              90             0
  81  CoffeeMachine   2.084          0.927          2.667          0              225            0
  82  DiningTable     -0.153         -0.000         1.073          0              270            0
  83  Faucet          1.175          0.926          2.950          270            90             0
  84  Faucet          0.686          0.926          2.950          270            90             0
  85  Chair           -0.077         0.002          0.196          0              15.000         0
  86  NorthWall
  87  EastWall
  88  SouthWall
  89  WestWall

Plan:
STEP 1: Turn left, walk forward to the stove top, then turn right and walk to the dining table. | STEP 2: Pick up the fork from the dining table. | STEP 3: Put the fork in the cup on the table. | STEP 4: Pick up the cup from the table. | STEP 5: Turn around, walk forward to the stove top, then turn left and walk to the sink. | STEP 6: Put the cup in the sink basin on the right side. | END