Task: To put a fork in a cup plus set it 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           0.0            0.900          2.75           0              180            0
   1  DishSponge      1.582          0.992          0.668          0              0              0              52
   2  Kettle          1.543          1.577          4.572          0              0              0              56
   3  Pot             1.32           0.988          3.848          0              0              0              51
   4  Spoon           -0.034         0.761          6.169          0              0              0              88
   5  Spoon           1.349          0.771          4.753          0              0              0              42
   6  Egg             0.028          0.810          6.323          0              0              0              88
   7  Cup             1.135          0.988          4.670          0              0              0              53
   8  Cup             0.562          1.575          0.163          0              0              0              66
   9  Plate           0.674          0.144          0.497          0              0              0              58
  10  Knife           -0.079         0.801          0.563          0              270            0              49
  11  SoapBottle      1.314          0.992          3.417          0              0              0              52
  12  Bowl            -0.552         0.143          0.582          0              0              0              60
  13  PepperShaker    -0.245         0.755          6.830          0              135            0              88
  14  PepperShaker    -0.378         0.755          6.698          0              135            0              88
  15  SaltShaker      -0.487         0.755          6.807          0              135            0              88
  16  Bread           0.150          0.829          6.479          0              270            0              88
  17  Bowl            -0.344         0.143          0.277          0              0              0              60
  18  Bread           1.099          1.048          0.434          0              0              0              52
  19  Egg             1.966          1.565          5.501          0              270            0              74
  20  Knife           0.167          0.789          6.151          0              135            0              88
  21  Fork            -0.159         0.760          6.941          0              90             0              88
  22  Apple           1.966          1.590          5.626          0              270            0              74
  23  Kettle          -0.465         0.761          6.349          0              225            0              88
  24  Plate           1.238          0.141          3.365          0              0              0              63
  25  SaltShaker      -0.535         0.987          0.578          0              0              0              52
  26  Lettuce         0.125          0.848          6.851          0              225            0              88
  27  SoapBottle      1.135          0.992          4.808          0              0              0              53
  28  Spatula         -0.384         1.007          0.578          0              0              0              52
  29  PaperTowelRoll  -0.530         0.864          6.196          0              225            0              88
  30  Pot             1.559          0.988          4.294          0              0              0              50
  31  Potato          -0.611         1.027          0.303          0              0              0              52
  32  ButterKnife     -0.621         0.760          6.541          0              270            0              88
  33  PepperShaker    1.657          0.135          3.513          0              0              0              63
  34  Pan             1.313          0.985          4.284          0              0              0              47
  35  Tomato          1.497          0.940          1.983          0              90             0              75
  36  DishSponge      0.958          1.579          0.295          0              0              0              59
  37  Cup             -0.180         0.756          6.677          0              135            0              88
  38  Spoon           0.124          0.773          0.451          0              0              0              49
  39  Mug             1.384          1.043          0.847          0              270            0              52
  40  Cabinet         1.307          2.455          4.360          0              0              0
  41  Cabinet         1.054          0.422          1.710          0              0              0
  42  Drawer          1.280          0.808          4.718          0              0              0
  43  Cabinet         1.307          2.455          3.607          0              0              0
  44  Drawer          0.736          0.802          0.521          0              0              0
  45  Drawer          1.276          0.802          3.291          0              0              0
  46  StoveBurner     1.562          0.982          3.848          0              0              0
  47  StoveBurner     1.317          0.982          4.294          0              0              0
  48  Drawer          -0.482         0.802          0.521          0              0              0
  49  Drawer          0.124          0.802          0.521          0              0              0
  50  StoveBurner     1.559          0.982          4.294          0              0              0
  51  StoveBurner     1.320          0.982          3.848          0              0              0
  52  CounterTop      1.391          1.028          0.897          0              0              0
  53  CounterTop      1.391          1.028          4.716          0              0              0
  54  Cabinet         1.054          0.422          4.548          0              0              0
  55  Cabinet         1.317          2.134          0.517          0              0              0
  56  Cabinet         1.317          2.134          4.889          0              0              0
  57  Cabinet         1.317          2.134          3.095          0              0              0
  58  Cabinet         0.443          0.422          0.743          0              0              0
  59  Cabinet         1.270          2.134          0.434          0              0              0
  60  Cabinet         -0.775         0.422          0.743          0              0              0
  61  Cabinet         -0.168         0.422          0.743          0              0              0
  62  Cabinet         1.317          2.134          1.534          0              0              0
  63  Cabinet         1.054          0.422          2.990          0              0              0
  64  Cabinet         1.054          0.422          2.944          0              0              0
  65  Cabinet         -0.263         2.134          0.434          0              0              0
  66  Cabinet         0.252          2.134          0.434          0              0              0
  67  Sink            1.391          1.006          2.326          0              0              0
  68  Microwave       0.108          0.981          0.262          0              0              0
  69  HousePlant      -0.165         0.826          6.444          0              0              0
  70  CoffeeMachine   1.551          0.982          0.953          0              270            0
  71  Toaster         1.473          0.981          4.715          0              270            0
  72  Window          -2.065         1.916          3.626          90             90             0
  73  Window          1.763          2.007          2.299          90             270            0
  74  Fridge          2.035          0.0            5.625          0              0              0
  75  SinkBasin       1.387          0.880          2.338          0              90             0
  76  GarbageCan      2.001          -0.044         6.503          0              0              0
  77  StoveKnob       1.140          0.934          3.987          45             270            0
  78  StoveKnob       1.140          0.934          4.309          45             270            0
  79  StoveKnob       1.140          0.934          4.140          45             270            0
  80  StoveKnob       1.140          0.934          3.824          45             270            0
  81  Vase            -0.226         0.834          6.993          0              0              0
  82  Vase            2.098          0.043          7.070          0              257.232        0
  83  Vase            -0.594         0.835          6.130          0              225            0
  84  LightSwitch     -2.0           1.549          6.045          0              90             0
  85  Safe            2.046          1.072          7.054          0              257.232        0
  86  Faucet          1.534          1.025          2.371          0              294.391        0
  87  Blinds          1.738          2.563          2.312          0              90             0
  88  DiningTable     -0.156         0.000          6.474          0              0              0
  89  Chair           0.291          0.002          6.142          0              310.162        0
  90  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  91  NorthWall
  92  EastWall
  93  SouthWall
  94  WestWall

Plan:
STEP 1: Turn around and walk across the room and turn right to face the knife on the kitchen table. | STEP 2: Pick up the fork on the kitchen table. | STEP 3: Turn around and cross the room, then turn left and step forward to face the counter. | STEP 4: Place the fork in the cup on the coffee maker. | STEP 5: Pick up the cup on the coffee maker. | STEP 6: Take a step to the left to face the sink. | STEP 7: Place the cup with a fork in it in the sink. | END