Task: Put the cup with fork in 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           -1.75          0.900          1.75           0              0              0
   1  Potato          1.599          0.947          -0.684         0              0              0              60
   2  DishSponge      -2.206         0.910          0.031          0              0              0              78
   3  DishSponge      1.132          0.910          -0.985         0              45             0              64
   4  ButterKnife     -0.211         0.910          0.647          0              0              0              50
   5  ButterKnife     1.426          0.911          0.494          0              0              0              59
   6  Fork            -2.538         0.911          1.230          0              90             0              78
   7  Fork            -0.081         0.911          1.540          0              0              0              50
   8  Spoon           1.426          0.912          0.465          0              0              0              59
   9  Spoon           -2.257         0.775          -0.121         0              90             0              68
  10  Pot             1.411          0.929          0.064          0              0              0              79
  11  Cup             0.195          0.908          -1.625         0              0              0              60
  12  Cup             -0.601         0.908          1.540          0              0              0              50
  13  Plate           1.734          1.659          0.313          0              0              0              69
  14  Knife           -2.227         0.798          0.952          0              270            0              55
  15  Tomato          1.521          0.953          -0.918         0              45             0              60
  16  Tomato          -2.513         0.637          -0.514         0              90             0              82
  17  SoapBottle      0.683          0.912          -1.710         0              0              0              60
  18  SoapBottle      1.769          0.913          0.435          0              90             0              59
  19  Bowl            -2.642         1.935          -0.409         0              0              0              72
  20  PepperShaker    -2.277         0.109          0.489          0              0              0              75
  21  PepperShaker    -2.289         0.905          1.530          0              0              0              78
  22  SaltShaker      -2.560         1.533          0.629          0              0              0              74
  23  Lettuce         -0.081         0.994          1.317          0              0              0              50
  24  Lettuce         -2.485         1.172          -0.696         0              90             0              82
  25  Bread           -2.538         0.996          0.931          0              0              0              78
  26  Apple           -2.393         1.362          -1.074         0              0              0              82
  27  Pan             1.412          0.929          -0.335         0              0              0              51
  28  Knife           -2.348         0.799          0.486          0              270            0              67
  29  Apple           1.646          0.246          0.651          0              0              0              89
  30  Bowl            -2.439         1.297          -0.602         0              90             0              82
  31  Fork            -2.289         0.911          0.931          0              0              0              78
  32  Bread           -0.341         0.996          0.870          0              0              0              50
  33  Plate           -0.601         0.913          1.764          0              0              0              50
  34  Egg             -2.506         1.046          2.481          0              90             0              90
  35  Kettle          -2.372         0.911          0.631          0              0              0              78
  36  Potato          0.917          0.947          -1.173         0              45             0              64
  37  SaltShaker      -2.621         0.905          1.230          0              0              0              78
  38  Lettuce         -2.372         0.994          1.230          0              0              0              78
  39  Cup             -2.374         0.592          -0.514         0              90             0              82
  40  SoapBottle      1.598          0.913          0.406          0              270            0              59
  41  Spatula         -2.704         0.925          1.230          0              90             0              78
  42  PaperTowelRoll  0.840          1.015          -1.506         0              45             0              60
  43  ButterKnife     -0.211         0.910          0.423          0              0              0              50
  44  PepperShaker    1.684          0.906          0.465          0              0              0              59
  45  DishSponge      -2.538         0.910          0.331          0              0              0              78
  46  Pot             1.337          0.923          -1.115         0              225            0              64
  47  Spoon           1.568          0.912          -0.767         0              45             0              60
  48  Tomato          -2.538         0.953          1.530          0              0              0              78
  49  Mug             -2.685         1.532          0.198          0              90             0              74
  50  CounterTop      -0.360         0.946          1.093          0              0              0
  51  StoveBurner     1.412          0.923          -0.335         0              0              0
  52  StoveKnob       1.878          1.093          0.018          287.989        90             0
  53  StoveKnob       1.878          1.093          -0.306         287.989        90             0
  54  Cabinet         -2.446         1.948          2.924          0              0              0
  55  Drawer          -2.276         0.792          0.902          0              0              0
  56  Cabinet         -2.145         0.402          1.578          0              0              0
  57  Cabinet         0.149          2.008          -1.603         0              90             0
  58  StoveBurner     1.691          0.923          -0.335         0              0              0
  59  CounterTop      1.585          0.946          0.405          0              0              0
  60  CounterTop      0.474          0.946          -1.625         0              0              0
  61  StoveBurner     1.691          0.923          0.064          0              0              0
  62  Cabinet         -2.446         1.948          1.687          0              0              0
  63  Cabinet         -2.446         1.948          1.640          0              0              0
  64  Sink            1.381          0.810          -1.271         0              225            0
  65  StoveKnob       1.878          1.093          0.150          287.989        90             0
  66  Cabinet         -2.145         0.402          -0.236         0              0              0
  67  Drawer          -2.276         0.792          0.437          0              0              0
  68  Drawer          -2.276         0.792          -0.027         0              0              0
  69  Cabinet         1.572          2.008          0.474          0              0              0
  70  Cabinet         1.572          2.008          -0.775         0              0              0
  71  Cabinet         -2.445         2.148          -1.275         0              0              0
  72  Cabinet         -2.446         2.148          -0.284         0              0              0
  73  Cabinet         -2.446         1.948          0.355          0              0              0
  74  Cabinet         -2.446         1.948          0.405          0              0              0
  75  Cabinet         -2.145         0.402          0.644          0              0              0
  76  Cabinet         -2.145         0.402          0.695          0              0              0
  77  Cabinet         -2.285         1.968          -1.325         0              180            0
  78  CounterTop      -1.485         0.946          1.319          0              0              0
  79  StoveBurner     1.411          0.923          0.064          0              0              0
  80  StoveKnob       1.878          1.093          -0.441         287.989        90             0
  81  Drawer          -2.276         0.792          1.368          0              0              0
  82  Fridge          -2.475         0.0            -0.782         0              90             0
  83  LightSwitch     -0.929         1.350          -1.950         0              0              0
  84  Toaster         -2.564         0.900          1.876          0              90             0
  85  CoffeeMachine   0.464          0.900          -1.810         0              0              0
  86  Window          1.508          1.534          -1.496         90             135            0
  87  Window          1.973          1.521          1.121          90             90             0
  88  SinkBasin       1.149          0.753          -1.380         0              225            0
  89  GarbageCan      1.646          -0.000         0.679          0              0              0
  90  Microwave       -2.580         0.900          2.440          0              90             0
  91  Stool           0.439          0.010          0.747          0              0              0
  92  Stool           -2.303         0.010          1.839          0              0              0
  93  Faucet          1.235          1.138          -1.473         0              225            0
  94  NorthWall
  95  EastWall
  96  SouthWall
  97  WestWall

Plan:
STEP 1: Turn around and walk forward then turn right to face the counter right of the fridge | STEP 2: Pick up the metal fork from the counter | STEP 3: Turn around and walk up to the kitchen island | STEP 4: Put the fork into the green cup on the kitchen island | STEP 5: Pick up the green cup from the kitchen island | STEP 6: Turn eight and walk around the kitchen island and over to the sink | STEP 7: Put the green cup into the kitchen sink | END