Task: put a glass and 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           0.5            0.901          0.75           0              0              0
   1  Potato          -0.349         0.831          1.217          0              0              0              79
   2  WineBottle      1.156          0.082          2.484          0              0              0              58
   3  WineBottle      1.994          0.939          0.361          0              0              0              63
   4  DishSponge      2.150          0.937          2.260          0              0              0              52
   5  DishSponge      -0.041         0.080          2.061          0              0              0              59
   6  ButterKnife     1.118          0.802          2.695          0              0              0              76
   7  Spatula         1.012          0.810          2.584          0              90             0              76
   8  Spoon           1.917          0.939          0.509          0              0              0              63
   9  Spoon           1.906          0.746          0.514          0              0              0              61
  10  Fork            -0.349         0.782          0.713          0              0              0              79
  11  Fork            0.033          0.791          0.545          0              90             0              79
  12  Plate           1.925          0.086          1.986          0              0              0              48
  13  Knife           -0.282         0.963          2.688          0              0              0              52
  14  Knife           -0.033         0.772          2.197          0              270            0              51
  15  SaltShaker      2.320          1.496          2.425          0              270            0              45
  16  PepperShaker    -0.053         0.932          2.757          0              0              0              52
  17  Lettuce         0.033          0.852          0.377          0              0              0              79
  18  Lettuce         2.168          1.385          -0.188         0              270            0              73
  19  Apple           -0.326         0.087          -0.864         0              90             0              74
  20  Apple           2.132          0.388          -0.369         0              270            0              73
  21  Egg             2.079          0.644          -0.278         0              270            0              73
  22  Lettuce         2.164          0.664          -0.097         0              270            0              73
  23  Fork            0.735          0.802          2.695          0              180            0              76
  24  SoapBottle      1.855          1.503          2.881          0              0              0              53
  25  Ladle           0.060          0.982          2.688          0              0              0              52
  26  Ladle           -0.196         0.835          1.217          0              0              0              79
  27  Bread           -0.184         0.825          0.820          0              354.524        0              79
  28  SaltShaker      1.840          0.933          0.583          0              0              0              63
  29  Potato          2.024          1.559          -0.007         0              270            0              73
  30  Pan             1.928          0.070          0.640          0              0              0              49
  31  WineBottle      -0.349         0.791          0.377          0              0              0              79
  32  Spatula         -0.425         0.805          0.377          0              90             0              79
  33  Knife           -0.119         0.816          0.377          0              90             0              79
  34  Tomato          -0.196         0.837          0.377          0              0              0              79
  35  Apple           2.231          1.569          -0.097         0              270            0              73
  36  ButterKnife     -0.042         0.791          1.049          0              0              0              79
  37  Pot             1.866          0.935          1.504          0              180            0              56
  38  PepperShaker    1.830          1.498          2.692          0              0              0              53
  39  Cup             -0.041         0.079          2.197          0              0              0              46
  40  DishSponge      -0.068         0.745          1.925          0              0              0              51
  41  Plate           2.206          1.505          2.010          0              0              0              55
  42  Spoon           1.941          0.746          0.652          0              0              0              61
  43  Mug             1.065          0.790          2.529          0              180            0              76
  44  Bowl            -0.053         0.934          2.548          0              0              0              52
  45  Cabinet         2.041          2.113          2.618          0              0              0
  46  Cabinet         0.126          0.388          1.774          0              0              0
  47  StoveBurner     2.140          0.929          1.504          0              180            0
  48  Cabinet         1.760          0.388          2.346          0              0              0
  49  Cabinet         1.760          0.388          0.869          0              0              0
  50  Cabinet         2.041          1.810          0.283          0              0              0
  51  Drawer          -0.024         0.774          2.061          0              0              0
  52  CounterTop      1.065          0.973          2.666          0              0              0
  53  Cabinet         1.969          2.113          2.618          0              0              0
  54  StoveBurner     2.140          0.929          1.106          0              0              0
  55  Cabinet         2.041          2.113          1.809          0              0              0
  56  StoveBurner     1.866          0.929          1.504          0              180            0
  57  Cabinet         2.041          2.113          1.766          0              0              0
  58  Cabinet         1.514          0.388          2.360          0              0              0
  59  Cabinet         0.351          0.388          2.360          0              0              0
  60  Cabinet         2.041          1.810          0.872          0              0              0
  61  Drawer          2.167          0.774          0.582          0              0              0
  62  Cabinet         2.041          2.113          0.892          0              0              0
  63  CounterTop      2.060          0.973          0.583          0              0              0
  64  Sink            0.935          0.936          2.646          0              0              0
  65  Curtains        0.964          2.061          2.989          0              0              0
  66  StoveBurner     1.863          0.929          1.106          0              0              0
  67  Drawer          1.911          0.774          2.060          0              0              0
  68  StoveKnob       2.326          1.092          1.610          288.013        90             0
  69  StoveKnob       2.326          1.092          1.460          288.013        90             0
  70  StoveKnob       2.326          1.092          1.210          288.013        90             0
  71  StoveKnob       2.326          1.092          1.050          288.013        90             0
  72  Toaster         2.126          0.926          0.572          0              270            0
  73  Fridge          2.104          0.0            -0.279         0              270            0
  74  GarbageCan      -0.309         -0.001         -0.807         0              91.471         0
  75  LightSwitch     0.354          1.518          -1.031         0              0              0
  76  SinkBasin       0.903          0.784          2.640          0              0              0
  77  Microwave       -0.310         0.926          2.077          0              90             0
  78  CoffeeMachine   2.084          0.927          2.667          0              225            0
  79  DiningTable     -0.153         -0.000         1.073          0              270            0
  80  Faucet          1.175          0.926          2.950          270            90             0
  81  Faucet          0.686          0.926          2.950          270            90             0
  82  Chair           -0.077         0.002          0.196          0              15.000         0
  83  NorthWall
  84  EastWall
  85  SouthWall
  86  WestWall

Plan:
STEP 1: walk to face sink | STEP 2: pick up fork from sink | STEP 3: turn left to face microwave | STEP 4: open bottom cabinet door, put fork in glass inside cabinet | STEP 5: pick up glass inside cabinet | STEP 6: turn right to face sink | STEP 7: put glass into the sink | END