Task: Take the cup and fork to the sink to be washed.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.930          0.25           0              180            0
   1  Pan             3.044          1.464          -1.697         0              270            0              65
   2  Ladle           -0.868         0.363          1.518          0              0              0              102
   3  Ladle           -0.907         0.937          -0.823         0              135            0              67
   4  DishSponge      -0.868         0.130          0.076          0              0              0              87
   5  DishSponge      3.044          0.900          -0.897         0              0              0              66
   6  Glassbottle     -1.066         0.901          -0.770         0              45             0              67
   7  Glassbottle     -0.182         0.901          -1.347         0              45             0              88
   8  Spatula         3.070          0.762          0.098          0              90             0              112
   9  Spoon           0.842          0.912          0.650          0              36.810         0              98
  10  Spoon           -0.031         0.515          -1.400         0              135            0              70
  11  Fork            -0.991         0.326          -0.011         0              90             0              72
  12  Fork            3.373          0.901          -0.023         0              90             0              66
  13  Fork            -0.789         0.900          -0.494         0              90             0              67
  14  CellPhone       -0.786         0.704          -0.186         0              0              0              74
  15  Mug             3.049          0.966          0.591          0              270            0              110
  16  Apple           -1.052         1.071          1.258          0              90             0              115
  17  Lettuce         1.164          1.313          -1.503         0              0              0              113
  18  Lettuce         0.356          0.976          0.426          0              0              0              98
  19  SaltShaker      0.007          0.896          -1.435         0              45             0              88
  20  SaltShaker      0.513          0.316          -1.393         0              0              0              73
  21  PepperShaker    3.031          1.460          -1.284         0              0              0              81
  22  PepperShaker    0.950          0.904          0.447          0              36.810         0              98
  23  Bowl            3.244          1.461          -1.284         0              0              0              81
  24  Tomato          2.987          0.784          0.032          0              90             0              112
  25  Tomato          1.086          0.748          -1.433         0              0              0              113
  26  Knife           -0.053         0.925          -1.682         0              135            0              88
  27  Knife           1.229          0.936          0.605          0              0              0              98
  28  Plate           3.028          0.188          -0.786         0              0              0              79
  29  Glassbottle     0.808          1.675          -1.341         0              0              0              82
  30  SoapBottle      3.255          0.184          -0.356         0              0              0              78
  31  Potato          0.967          0.946          0.180          0              0              0              98
  32  Fork            -0.827         0.131          0.576          0              0              0              97
  33  Ladle           1.229          0.947          0.464          0              270            0              98
  34  Pot             -0.420         0.902          -0.920         0              135            0              62
  35  Kettle          -0.419         0.902          -1.269         0              315            0              69
  36  Spatula         -0.868         0.721          0.926          0              270            0              71
  37  Knife           3.122          0.926          -0.599         0              0              0              66
  38  Lettuce         0.887          0.973          0.627          0              0              0              98
  39  Cup             -0.717         0.898          0.846          0              0              0              67
  40  SaltShaker      -0.964         1.254          -0.765         0              45             0              86
  41  Egg             3.262          0.153          1.519          0              225            0              108
  42  PepperShaker    0.491          0.904          0.181          0              36.810         0              98
  43  ButterKnife     0.661          0.908          0.176          0              36.810         0              98
  44  Apple           1.491          0.981          0.889          0              0              0              98
  45  Pan             0.341          0.873          -1.649         0              167.065        0              88
  46  Bread           0.622          0.989          0.527          0              0              0              98
  47  CellPhone       0.468          0.510          -1.434         0              0              0              53
  48  DishSponge      -0.868         0.517          0.489          0              0              0              64
  49  Tomato          0.887          0.947          0.326          0              0              0              98
  50  Spoon           3.028          0.748          0.298          0              180            0              112
  51  Bowl            0.404          1.256          -1.707         0              0              0              83
  52  Mug             0.851          0.706          -1.459         0              0              0              113
  53  Drawer          0.376          0.572          -1.509         0              0              0
  54  Drawer          3.020          0.769          -0.783         0              180            0
  55  Drawer          -0.860         0.577          1.429          0              0              0
  56  StoveBurner     -0.600         0.897          -1.090         0              135            0
  57  Drawer          0.376          0.191          -1.509         0              0              0
  58  Cabinet         1.402          1.874          -1.259         0              0              0
  59  Cabinet         -0.202         1.963          -1.328         0              0              0
  60  Drawer          -0.860         0.765          1.429          0              0              0
  61  Drawer          -0.677         0.765          -0.700         0              0              0
  62  StoveBurner     -0.420         0.897          -0.920         0              135            0
  63  Drawer          3.020          0.769          -0.407         0              180            0
  64  Drawer          -0.860         0.577          0.663          0              0              0
  65  Cabinet         2.819          1.768          -1.850         0              0              0
  66  CounterTop      3.111          0.936          0.019          0              0              0
  67  CounterTop      -1.007         0.935          -0.039         0              0              0
  68  Drawer          -0.860         0.385          0.663          0              0              0
  69  StoveBurner     -0.419         0.897          -1.269         0              315            0
  70  Drawer          -0.047         0.573          -1.324         0              0              0
  71  Drawer          -0.860         0.765          0.663          0              0              0
  72  Drawer          -0.860         0.385          -0.100         0              0              0
  73  Drawer          0.376          0.380          -1.509         0              0              0
  74  Drawer          -0.860         0.765          -0.100         0              0              0
  75  Drawer          0.376          0.765          -1.509         0              0              0
  76  Cabinet         2.849          0.419          0.409          0              0              0
  77  Drawer          -0.047         0.765          -1.324         0              0              0
  78  Cabinet         2.849          0.419          -0.610         0              0              0
  79  Cabinet         2.849          0.419          -0.959         0              0              0
  80  Cabinet         3.069          1.666          -0.709         0              0              0
  81  Cabinet         2.819          1.768          -1.047         0              0              0
  82  Cabinet         0.620          1.874          -1.259         0              0              0
  83  Cabinet         0.140          1.666          -1.559         0              0              0
  84  Cabinet         -0.189         1.666          -1.340         0              0              0
  85  Cabinet         -0.709         1.963          -0.819         0              0              0
  86  Cabinet         -0.920         1.665          -0.620         0              0              0
  87  Drawer          -0.860         0.190          -0.100         0              0              0
  88  CounterTop      0.133          0.935          -1.457         0              0              0
  89  Drawer          3.020          0.769          0.695          0              180            0
  90  Drawer          -0.677         0.577          -0.700         0              0              0
  91  Drawer          -0.860         0.190          1.429          0              0              0
  92  Drawer          -0.047         0.192          -1.324         0              0              0
  93  Drawer          -0.677         0.193          -0.700         0              0              0
  94  Drawer          -0.860         0.577          -0.100         0              0              0
  95  Sink            3.078          0.887          0.086          0              0              0
  96  StoveBurner     -0.239         0.897          -1.089         0              315            0
  97  Drawer          -0.860         0.190          0.663          0              0              0
  98  CounterTop      1.210          0.937          0.463          0              0              0
  99  Drawer          -0.047         0.381          -1.324         0              0              0
 100  Drawer          -0.677         0.387          -0.700         0              0              0
 101  Mirror          -1.295         1.630          0.045          0              0              0
 102  Drawer          -0.860         0.385          1.429          0              0              0
 103  HousePlant      3.196          0.891          -0.368         0              0              0
 104  StoveKnob       -0.090         0.790          -1.009         270            45             0
 105  StoveKnob       -0.280         0.790          -0.819         270            45             0
 106  StoveKnob       -0.180         0.790          -0.920         270            45             0
 107  StoveKnob       -0.370         0.790          -0.720         270            45             0
 108  GarbageCan      3.137          0.025          1.545          0              225            0
 109  Window          3.703          1.675          0.046          90             90             0
 110  CoffeeMachine   3.214          0.890          0.697          0              270            0
 111  LightSwitch     2.592          1.309          -1.880         0              0              0
 112  SinkBasin       3.069          0.736          0.108          0              90             0
 113  Fridge          1.008          0.029          -1.467         0              0              0
 114  Toaster         -1.035         0.873          -0.396         0              90             0
 115  Microwave       -1.034         0.874          1.428          0              90             0
 116  Faucet          3.305          0.886          0.094          270            180            0
 117  NorthWall
 118  EastWall
 119  SouthWall
 120  WestWall

Plan:
STEP 1: Turn left to the sink. | STEP 2: Pick up the fork from the counter behind the sink. | STEP 3: Turn around and walk straight to the microwave on the right. | STEP 4: Put the fork in the cup near the microwave. | STEP 5: Pick up the fork and cup from the counter. | STEP 6: Turn around and go back to the sink. | STEP 7: Put the cup and fork in the sink. | END