Task: Put a fork in a cup 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           -1.25          0.901          1.0            0              180            0
   1  ButterKnife     -1.770         0.928          0.433          0              0              0              53
   2  Spatula         -2.628         0.950          3.488          0              90             0              60
   3  Spatula         -2.789         0.915          2.441          0              90             0              74
   4  Fork            -2.037         0.928          0.433          0              0              0              53
   5  Fork            -2.892         0.901          2.309          0              0              0              74
   6  Fork            -2.583         0.901          2.441          0              0              0              74
   7  Cup             -2.686         0.900          2.177          0              0              0              74
   8  Cup             -0.228         0.900          3.334          0              0              0              76
   9  Cup             -2.628         0.935          3.209          0              0              0              60
  10  Plate           -0.802         1.777          0.205          0              0              0              51
  11  Knife           -2.628         0.961          3.302          0              0              0              60
  12  SoapBottle      -2.686         0.900          2.573          0              90             0              74
  13  SoapBottle      -2.583         0.900          2.706          0              0              0              74
  14  Tomato          -2.850         0.117          0.385          0              26.101         0              67
  15  Bowl            -2.691         0.295          4.575          0              90             0              70
  16  SaltShaker      -2.864         0.931          3.302          0              0              0              60
  17  PepperShaker    -0.400         0.896          2.329          0              0              0              76
  18  PepperShaker    -3.022         0.931          3.302          0              0              0              60
  19  Mug             -0.657         0.895          2.731          0              0              0              76
  20  Apple           -1.007         0.852          0.281          0              0              0              71
  21  Egg             -0.657         0.933          3.133          0              0              0              76
  22  Plate           -0.572         0.904          2.329          0              0              0              76
  23  Fork            -2.269         0.662          0.355          0              0              0              61
  24  Bread           -0.314         0.957          3.133          0              0              0              76
  25  Apple           -2.549         0.991          3.488          0              0              0              60
  26  Lettuce         -0.314         0.980          2.731          0              180            0              76
  27  Spatula         -2.377         0.915          2.706          0              0              0              74
  28  Knife           -1.770         0.953          0.602          0              0              0              53
  29  Potato          -1.094         0.822          0.447          0              0              0              71
  30  Tomato          -2.549         0.999          3.766          0              0              0              60
  31  Cup             -2.764         0.632          4.352          0              90             0              70
  32  SaltShaker      -0.143         0.896          2.731          0              0              0              76
  33  PepperShaker    -2.136         1.769          0.160          0              0              0              49
  34  ButterKnife     -2.037         0.928          0.602          0              0              0              53
  35  SoapBottle      -0.143         0.900          2.329          0              0              0              76
  36  Pan             -2.805         1.185          4.427          0              180            0              70
  37  DishSponge      -1.637         0.927          0.518          0              0              0              53
  38  Pot             -0.535         0.928          4.274          0              0              0              57
  39  Spoon           -0.400         0.901          2.530          0              0              0              76
  40  Mug             -0.297         1.018          0.267          0              0              0              72
  41  Bowl            -2.878         0.295          4.427          0              90             0              70
  42  Drawer          -0.325         0.696          0.413          0              0              0
  43  Cabinet         -0.595         0.490          0.648          0              0              0
  44  Cabinet         -0.555         0.490          0.646          0              0              0
  45  Cabinet         -1.591         0.490          0.646          0              0              0
  46  Cabinet         -1.554         0.490          0.646          0              0              0
  47  Cabinet         -2.550         0.490          0.646          0              0              0
  48  Cabinet         -1.514         2.046          0.392          0              0              0
  49  Cabinet         -2.474         2.046          0.392          0              0              0
  50  Cabinet         -1.478         2.046          0.392          0              0              0
  51  Cabinet         -0.518         2.046          0.392          0              0              0
  52  Cabinet         -0.479         2.046          0.392          0              0              0
  53  CounterTop      -1.366         0.952          0.349          0              0              0
  54  Sink            -1.108         0.926          0.340          0              0              0
  55  StoveBurner     -0.254         0.922          4.672          0              0              0
  56  Drawer          -1.824         0.696          0.413          0              0              0
  57  StoveBurner     -0.535         0.922          4.274          0              0              0
  58  StoveBurner     -0.254         0.922          4.274          0              0              0
  59  StoveBurner     -0.536         0.922          4.672          0              0              0
  60  CounterTop      -2.780         0.971          3.487          0              0              0
  61  Drawer          -2.323         0.696          0.413          0              0              0
  62  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  63  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  66  Toaster         -0.286         0.861          3.520          0              270            0
  67  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  68  LightSwitch     -0.064         1.447          1.996          0              270            0
  69  Window          -3.075         1.593          1.361          90             90             0
  70  Fridge          -2.802         0.0            4.427          0              0              0
  71  SinkBasin       -1.106         0.785          0.337          0              0              0
  72  Microwave       -0.358         0.917          0.224          0              0              0
  73  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  74  DiningTable     -2.733         -0.003         2.607          0              270            0
  75  Faucet          -1.077         0.920          0.028          270            270            0
  76  DiningTable     -0.488         -0.003         3.182          0              270            0
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Turn right and walk to the window, then turn right again and go to the table. | STEP 2: Pick up the fork from the table. | STEP 3: Put the fork in the cup. | STEP 4: Pick up the cup with the fork. | STEP 5: Turn around and go to the sink. | STEP 6: Put the cup and fork in the sink. | END