Task: place a cup with a fork in it down on the kitchen counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.25          0.899          4.75           0              0              0
   1  Potato          -0.342         1.719          3.673          0              270            0              109
   2  Potato          -0.342         1.614          3.349          0              270            0              109
   3  ButterKnife     -1.943         0.923          1.648          0              180            0              58
   4  ButterKnife     -3.340         0.923          1.951          0              0              0              76
   5  WineBottle      -4.266         1.457          2.018          0              45             0              77
   6  Pot             -2.924         0.930          1.712          0              180            0              73
   7  Fork            -1.693         0.924          1.875          0              0              0              58
   8  Fork            -0.411         0.925          5.603          0              0              0              61
   9  Fork            -0.181         0.925          5.932          0              0              0              61
  10  Spatula         -4.172         0.938          2.300          0              0              0              76
  11  Spatula         -4.016         0.769          2.235          0              90             0              56
  12  Cup             -4.159         0.789          3.347          0              270            0              108
  13  Egg             -3.675         0.104          6.498          0              270            0              102
  14  Plate           -1.776         0.082          1.971          0              0              0              92
  15  Plate           -0.348         1.071          3.726          0              270            0              109
  16  Knife           -1.860         0.953          1.648          0              90             0              58
  17  Knife           -4.184         0.953          5.159          0              270            0              76
  18  Tomato          -0.342         1.742          3.854          0              270            0              109
  19  SaltShaker      -2.093         0.743          1.926          0              0              0              74
  20  SaltShaker      -1.782         0.743          1.985          0              0              0              74
  21  Lettuce         -0.258         1.020          5.603          0              0              0              61
  22  Bread           -1.610         1.003          1.8            0              0              0              58
  23  Mug             -0.301         1.330          3.850          0              270            0              109
  24  Mug             -0.218         1.680          3.915          0              270            0              109
  25  Apple           -4.196         0.844          3.097          0              270            0              108
  26  Egg             -2.583         1.582          1.601          0              0              0              106
  27  Apple           -3.639         0.122          6.333          0              270            0              102
  28  Knife           -0.411         0.954          4.615          0              180            0              61
  29  Potato          -0.454         1.104          3.355          0              270            0              109
  30  Fork            -4.108         0.924          4.640          0              90             0              76
  31  Bowl            -4.335         0.920          4.640          0              90             0              76
  32  Plate           -0.342         1.336          3.231          0              270            0              109
  33  Lettuce         -0.258         1.020          5.273          0              0              0              61
  34  Bread           -1.943         1.003          1.951          0              0              0              58
  35  Tomato          -4.102         0.980          2.416          0              0              0              76
  36  WineBottle      -0.104         0.926          4.944          0              0              0              61
  37  Spatula         -0.411         0.940          4.944          0              0              0              61
  38  PaperTowelRoll  -1.693         1.027          2.026          0              0              0              58
  39  Cup             -2.688         1.545          1.633          0              0              0              106
  40  Pencil          -3.712         0.068          6.416          0              270            0              102
  41  Pan             -4.184         0.923          4.381          0              0              0              76
  42  Pot             -2.469         0.930          1.712          0              270            0              91
  43  SaltShaker      -4.172         0.919          2.183          0              0              0              76
  44  SoapBottle      -3.475         0.082          1.850          0              0              0              51
  45  PepperShaker    -0.263         2.130          5.038          0              180            0              65
  46  ButterKnife     -1.777         0.923          1.724          0              0              0              58
  47  DishSponge      -3.389         1.459          5.440          0              90             0              62
  48  Spoon           -2.026         0.924          2.026          0              0              0              58
  49  Mug             -0.301         1.575          3.228          0              270            0              109
  50  Cabinet         -3.203         1.931          1.777          0              0              0
  51  Cabinet         -3.187         0.390          2.089          0              0              0
  52  Cabinet         -0.637         0.387          6.882          0              180            0
  53  Drawer          -3.797         0.781          1.961          0              0              0
  54  Cabinet         -3.036         0.387          5.029          0              90             0
  55  Drawer          -0.509         0.775          5.268          0              270            0
  56  Drawer          -4.125         0.798          2.499          0              0              0
  57  Cabinet         -0.331         2.249          4.308          0              180            0
  58  CounterTop      -1.872         0.958          1.799          0              0              0
  59  StoveBurner     -2.924         0.924          2.012          0              0              0
  60  Cabinet         -0.331         2.249          6.806          0              180            0
  61  CounterTop      -0.345         0.960          5.603          0              0              0
  62  Cabinet         -3.039         1.935          5.321          0              90             0
  63  Cabinet         -3.922         0.397          2.088          0              0              0
  64  StoveBurner     -2.467         0.924          2.012          0              0              0
  65  Cabinet         -0.331         2.249          5.505          0              180            0
  66  Drawer          -0.509         0.775          4.617          0              270            0
  67  Drawer          -3.509         0.777          5.157          0              180            0
  68  Cabinet         -3.961         0.388          2.878          0              0              0
  69  Cabinet         -3.961         0.388          4.342          0              0              0
  70  Cabinet         -0.637         0.387          5.582          0              180            0
  71  Cabinet         -0.637         0.388          4.299          0              180            0
  72  Cabinet         -0.637         0.388          5.599          0              180            0
  73  StoveBurner     -2.924         0.924          1.712          0              180            0
  74  Drawer          -1.859         0.775          1.961          0              0              0
  75  Cabinet         -0.331         2.249          5.609          0              180            0
  76  CounterTop      -4.260         0.958          4.943          0              90             0
  77  Cabinet         -4.284         1.931          2.226          0              0              0
  78  Cabinet         -0.331         2.249          3.010          0              180            0
  79  Drawer          -3.801         0.777          5.157          0              180            0
  80  Cabinet         -4.112         1.935          5.321          0              90             0
  81  Cabinet         -3.968         0.388          3.662          0              0              0
  82  Drawer          -3.418         0.777          1.961          0              0              0
  83  Drawer          -4.090         0.777          4.661          0              90             0
  84  Faucet          -4.441         0.909          3.288          270            0              0
  85  Cabinet         -0.331         2.249          4.207          0              180            0
  86  Cabinet         -3.961         0.388          2.119          0              0              0
  87  Drawer          -0.509         0.775          5.920          0              270            0
  88  Drawer          -3.193         0.777          5.157          0              180            0
  89  Cabinet         -3.968         0.388          2.894          0              0              0
  90  Cabinet         -3.667         0.387          5.029          0              90             0
  91  StoveBurner     -2.469         0.924          1.712          0              270            0
  92  Cabinet         -1.539         0.388          2.090          0              0              0
  93  Sink            -4.190         0.921          3.279          0              0              0
  94  Cabinet         -3.641         0.387          5.029          0              90             0
  95  Cabinet         -1.583         1.931          1.777          0              0              0
  96  Drawer          -0.509         0.775          6.568          0              270            0
  97  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  98  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  99  StoveKnob       -2.788         1.095          1.560          288.012        180            180
 100  StoveKnob       -2.965         1.095          1.560          288.012        180            180
 101  StoveKnob       -2.512         1.095          1.560          288.012        180            180
 102  GarbageCan      -3.711         -0.030         6.376          0              270            0
 103  Toaster         -3.578         0.912          1.763          0              0              0
 104  Curtains        -4.522         2.252          3.391          90             90             0
 105  Window          -4.868         1.629          3.309          90             270            0
 106  Microwave       -2.693         1.430          1.689          0              0              0
 107  LightSwitch     -1.588         1.169          1.506          0              0              0
 108  SinkBasin       -4.196         0.780          3.276          0              270            0
 109  Fridge          -0.324         -0.001         3.602          0              0              0
 110  NorthWall
 111  EastWall
 112  SouthWall
 113  WestWall

Plan:
STEP 1: turn left and walk forwards to the kitchen counter there | STEP 2: grab the fork off of the kitchen counter there | STEP 3: move left a bit and face the sink on the right | STEP 4: place the fork inside of the cup in the sink on the right | STEP 5: grab the cup out from inside the sink | STEP 6: move right a bit to face the same counter again | STEP 7: place the cup down on the countertop there | END