Task: Place a fork in a cup to take it back to 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           2.25           0.930          0.5            0              90             0
   1  Potato          3.128          0.139          1.653          0              225            0              111
   2  Potato          3.152          0.785          -0.100         0              90             0              115
   3  Ladle           -0.698         0.937          -0.830         0              135            0              70
   4  DishSponge      -0.827         0.325          0.076          0              0              0              75
   5  ButterKnife     1.360          0.908          0.605          0              0              0              101
   6  ButterKnife     3.044          0.900          -0.798         0              0              0              69
   7  Glassbottle     0.445          0.911          0.727          0              0              0              101
   8  Kettle          -0.600         0.902          -1.090         0              135            0              59
   9  Kettle          -0.942         1.259          -0.836         0              45             0              89
  10  Pot             -0.935         0.900          0.176          0              180            0              70
  11  Spatula         3.355          0.915          -0.399         0              270            0              69
  12  Spatula         -0.830         0.915          -0.699         0              315            0              70
  13  Spoon           0.285          0.321          -1.515         0              90             0              76
  14  Spoon           -0.868         0.327          1.343          0              0              0              105
  15  Fork            0.007          0.900          -1.435         0              45             0              91
  16  Fork            -0.574         0.900          -0.652         0              45             0              70
  17  CellPhone       0.105          0.897          -1.430         0              45             0              91
  18  Mug             3.049          0.966          0.591          0              270            0              113
  19  Mug             -0.190         1.258          -1.594         0              45             0              87
  20  Apple           -0.136         0.974          -1.393         0              45             0              91
  21  Apple           1.098          0.981          0.322          0              0              0              101
  22  PepperShaker    -0.612         0.514          -0.728         0              45             0              93
  23  Bowl            1.255          1.671          -1.480         0              0              0              61
  24  Bowl            0.710          0.905          0.727          0              0              0              101
  25  Egg             -0.789         0.952          -0.047         0              0              0              70
  26  Egg             0.436          0.963          0.223          0              36.810         0              101
  27  Cup             -1.052         0.995          1.417          0              90             0              118
  28  Plate           3.028          0.190          0.700          0              0              0              79
  29  Knife           -0.991         0.543          -0.186         0              90             0              97
  30  Knife           3.200          0.926          -0.300         0              0              0              69
  31  Plate           3.113          1.477          -1.648         0              0              0              68
  32  Glassbottle     3.141          0.176          -0.702         0              0              0              82
  33  SoapBottle      0.356          0.920          0.827          0              0              0              101
  34  Potato          -1.018         1.036          1.258          0              90             0              118
  35  Fork            3.07           0.753          0.098          0              270            0              115
  36  Ladle           -0.991         0.363          0.076          0              90             0              75
  37  Pot             -1.008         0.900          0.623          0              270            0              70
  38  Kettle          0.661          0.909          0.176          0              36.810         0              101
  39  Spatula         2.947          0.727          -0.454         0              90             0              66
  40  Knife           3.044          0.926          -0.599         0              0              0              69
  41  Lettuce         -1.043         0.965          -0.691         0              45             0              70
  42  Cup             3.122          0.898          -0.897         0              0              0              69
  43  SaltShaker      -0.731         0.703          -0.707         0              45             0              64
  44  Egg             -1.018         1.050          1.523          0              90             0              118
  45  PepperShaker    0.022          0.896          -1.803         0              0              0              91
  46  ButterKnife     0.842          0.911          0.650          0              36.810         0              101
  47  Apple           0.553          0.981          0.379          0              36.810         0              101
  48  Pan             0.341          0.873          -1.649         0              167.065        0              91
  49  Bread           1.229          0.989          0.747          0              0              0              101
  50  CellPhone       -0.635         0.325          -0.704         0              45             0              103
  51  DishSponge      1.255          1.674          -1.689         0              0              0              61
  52  Tomato          3.355          0.937          -0.897         0              0              0              69
  53  Spoon           3.070          0.748          0.231          0              90             0              115
  54  Bowl            0.895          0.908          0.489          0              36.810         0              101
  55  Mug             1.242          1.068          -1.503         0              0              0              116
  56  Drawer          0.376          0.572          -1.509         0              0              0
  57  Drawer          3.020          0.769          -0.783         0              180            0
  58  Drawer          -0.860         0.577          1.429          0              0              0
  59  StoveBurner     -0.600         0.897          -1.090         0              135            0
  60  Drawer          0.376          0.191          -1.509         0              0              0
  61  Cabinet         1.402          1.874          -1.259         0              0              0
  62  Cabinet         -0.202         1.963          -1.328         0              0              0
  63  Drawer          -0.860         0.765          1.429          0              0              0
  64  Drawer          -0.677         0.765          -0.700         0              0              0
  65  StoveBurner     -0.420         0.897          -0.920         0              135            0
  66  Drawer          3.020          0.769          -0.407         0              180            0
  67  Drawer          -0.860         0.577          0.663          0              0              0
  68  Cabinet         2.819          1.768          -1.850         0              0              0
  69  CounterTop      3.111          0.936          0.019          0              0              0
  70  CounterTop      -1.007         0.935          -0.039         0              0              0
  71  Drawer          -0.860         0.385          0.663          0              0              0
  72  StoveBurner     -0.419         0.897          -1.269         0              315            0
  73  Drawer          -0.047         0.573          -1.324         0              0              0
  74  Drawer          -0.860         0.765          0.663          0              0              0
  75  Drawer          -0.860         0.385          -0.100         0              0              0
  76  Drawer          0.376          0.380          -1.509         0              0              0
  77  Drawer          -0.860         0.765          -0.100         0              0              0
  78  Drawer          0.376          0.765          -1.509         0              0              0
  79  Cabinet         2.849          0.419          0.409          0              0              0
  80  Drawer          -0.047         0.765          -1.324         0              0              0
  81  Cabinet         2.849          0.419          -0.610         0              0              0
  82  Cabinet         2.849          0.419          -0.959         0              0              0
  83  Cabinet         3.069          1.666          -0.709         0              0              0
  84  Cabinet         2.819          1.768          -1.047         0              0              0
  85  Cabinet         0.620          1.874          -1.259         0              0              0
  86  Cabinet         0.140          1.666          -1.559         0              0              0
  87  Cabinet         -0.189         1.666          -1.340         0              0              0
  88  Cabinet         -0.709         1.963          -0.819         0              0              0
  89  Cabinet         -0.920         1.665          -0.620         0              0              0
  90  Drawer          -0.860         0.190          -0.100         0              0              0
  91  CounterTop      0.133          0.935          -1.457         0              0              0
  92  Drawer          3.020          0.769          0.695          0              180            0
  93  Drawer          -0.677         0.577          -0.700         0              0              0
  94  Drawer          -0.860         0.190          1.429          0              0              0
  95  Drawer          -0.047         0.192          -1.324         0              0              0
  96  Drawer          -0.677         0.193          -0.700         0              0              0
  97  Drawer          -0.860         0.577          -0.100         0              0              0
  98  Sink            3.078          0.887          0.086          0              0              0
  99  StoveBurner     -0.239         0.897          -1.089         0              315            0
 100  Drawer          -0.860         0.190          0.663          0              0              0
 101  CounterTop      1.210          0.937          0.463          0              0              0
 102  Drawer          -0.047         0.381          -1.324         0              0              0
 103  Drawer          -0.677         0.387          -0.700         0              0              0
 104  Mirror          -1.295         1.630          0.045          0              0              0
 105  Drawer          -0.860         0.385          1.429          0              0              0
 106  HousePlant      3.196          0.891          -0.368         0              0              0
 107  StoveKnob       -0.090         0.790          -1.009         270            45             0
 108  StoveKnob       -0.280         0.790          -0.819         270            45             0
 109  StoveKnob       -0.180         0.790          -0.920         270            45             0
 110  StoveKnob       -0.370         0.790          -0.720         270            45             0
 111  GarbageCan      3.137          0.025          1.545          0              225            0
 112  Window          3.703          1.675          0.046          90             90             0
 113  CoffeeMachine   3.214          0.890          0.697          0              270            0
 114  LightSwitch     2.592          1.309          -1.880         0              0              0
 115  SinkBasin       3.069          0.736          0.108          0              90             0
 116  Fridge          1.008          0.029          -1.467         0              0              0
 117  Toaster         -1.035         0.873          -0.396         0              90             0
 118  Microwave       -1.034         0.874          1.428          0              90             0
 119  Faucet          3.305          0.886          0.094          270            180            0
 120  NorthWall
 121  EastWall
 122  SouthWall
 123  WestWall

Plan:
STEP 1: Walk to the kitchen sink. | STEP 2: Grab a fork out of the sink. | STEP 3: Walk to the edge of the kitchen table. | STEP 4: Place the fork inside the orange cup. | STEP 5: Grab the orange cup with the fork in it. | STEP 6: Walk back to the kitchen sink. | STEP 7: Place the cup and fork inside the sink. | END