Task: Put 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           -3.5           0.900          0.0            0              90             0
   1  Potato          0.944          0.941          -0.555         0              0              0              61
   2  Potato          0.688          0.941          -0.208         0              90             0              61
   3  CreditCard      0.944          0.908          -0.034         0              0              0              61
   4  CreditCard      -1.469         0.878          2.692          0              0              0              87
   5  CellPhone       0.875          0.491          -0.690         0              270            0              64
   6  CellPhone       0.688          0.908          -1.879         0              0              0              66
   7  DishSponge      0.944          0.910          -1.793         0              0              0              66
   8  ButterKnife     1.114          0.911          -0.381         0              0              0              61
   9  ButterKnife     -0.846         0.933          -1.386         0              0              0              60
  10  Glassbottle     1.056          1.667          -0.273         0              270            0              69
  11  Glassbottle     -1.054         0.179          0.543          0              180            0              80
  12  Spatula         0.834          0.509          -0.731         0              90             0              64
  13  Knife           -0.550         0.957          -0.143         0              0              0              60
  14  Knife           0.859          0.934          -0.729         0              0              0              61
  15  Plate           1.194          1.669          -1.961         0              270            0              59
  16  Plate           1.169          2.211          -1.299         0              270            0              67
  17  Tomato          0.844          0.903          1.063          0              270            0              83
  18  Tomato          -0.642         0.821          -0.745         0              90             0              81
  19  SoapBottle      -0.912         0.177          0.543          0              180            0              80
  20  SaltShaker      -1.674         0.878          2.719          0              0              0              87
  21  PepperShaker    -0.550         0.929          -1.154         0              0              0              60
  22  Lettuce         1.026          1.720          1.254          0              270            0              83
  23  Mug             1.060          1.790          -1.339         0              270            0              82
  24  Apple           -0.808         0.830          -0.573         0              90             0              81
  25  Apple           -0.587         0.830          -0.400         0              90             0              81
  26  Statue          -1.104         0.936          -0.380         0              0              0              60
  27  Glassbottle     1.101          1.667          0.216          0              270            0              68
  28  Bread           0.905          1.216          1.158          0              270            0              83
  29  CreditCard      0.833          0.150          -0.571         0              270            0              63
  30  CellPhone       -1.363         0.550          2.615          0              0              0              86
  31  Potato          -0.753         0.807          -0.486         0              270            0              81
  32  Knife           -0.772         0.957          -0.143         0              0              0              60
  33  Fork            -0.753         0.781          -0.832         0              180            0              81
  34  Pan             0.848          0.946          -1.080         0              0              0              54
  35  Lettuce         -1.292         1.010          -0.905         0              0              0              60
  36  Plate           0.861          0.111          -2.212         0              0              0              65
  37  Apple           -0.753         0.826          -0.745         0              90             0              81
  38  Pot             1.077          0.950          -1.504         0              0              0              56
  39  Spatula         -1.104         0.948          0.144          0              0              0              60
  40  PaperTowelRoll  0.944          1.015          -0.381         0              0              0              61
  41  Tomato          1.199          0.952          -1.793         0              0              0              66
  42  Egg             -0.818         0.214          0.575          0              180            0              80
  43  SaltShaker      1.101          1.662          -0.038         0              270            0              68
  44  PepperShaker    0.914          0.150          -0.769         0              270            0              63
  45  Vase            -1.423         0.169          2.621          0              0              0              86
  46  ButterKnife     -0.624         0.933          -1.231         0              0              0              60
  47  SoapBottle      -1.571         0.882          2.692          0              0              0              87
  48  Vase            -1.363         0.555          2.822          0              0              0              86
  49  Bowl            0.905          0.866          1.444          0              270            0              83
  50  DishSponge      1.055          1.665          -2.097         0              270            0              59
  51  Spoon           -1.355         0.934          -0.380         0              0              0              60
  52  Cup             1.060          1.780          -1.236         0              270            0              82
  53  Mug             1.199          0.906          0.313          0              180            0              61
  54  StoveBurner     0.842          0.919          -1.098         0              0              0
  55  Cabinet         0.648          0.474          0.244          0              270            0
  56  StoveBurner     1.077          0.919          -1.504         0              0              0
  57  StoveBurner     0.842          0.919          -1.504         0              0              0
  58  Drawer          0.637          0.755          -0.649         0              270            0
  59  Cabinet         0.949          2.159          -2.375         0              270            0
  60  CounterTop      -1.238         0.968          -0.643         0              0              0
  61  CounterTop      0.931          0.946          -0.208         0              0              0
  62  StoveBurner     1.077          0.919          -1.098         0              0              0
  63  Drawer          0.637          0.268          -0.649         0              270            0
  64  Drawer          0.637          0.547          -0.649         0              270            0
  65  Cabinet         0.648          0.475          -1.714         0              0              0
  66  CounterTop      0.931          0.946          -2.051         0              0              0
  67  Cabinet         0.948          2.439          -1.780         0              270            0
  68  Cabinet         0.948          2.159          -0.140         0              270            0
  69  Cabinet         0.949          2.159          -0.758         0              270            0
  70  Sink            -0.699         0.927          -0.649         0              0              0
  71  LightSwitch     -2.371         1.218          3.049          0              180            0
  72  StoveKnob       0.673          0.899          -1.373         315            90             180
  73  StoveKnob       0.673          0.899          -1.519         315            90             180
  74  StoveKnob       0.673          0.899          -1.086         315            90             180
  75  StoveKnob       0.673          0.899          -1.237         315            90             180
  76  Toaster         0.984          0.900          0.329          0              270            0
  77  Window          0.014          0.998          -2.640         90             0              0
  78  Window          -2.996         0.998          -2.640         90             0              0
  79  CoffeeMachine   0.892          0.900          -2.132         0              300.130        0
  80  GarbageCan      -0.946         -0.036         0.575          0              180            0
  81  SinkBasin       -0.698         0.765          -0.647         0              90             0
  82  Microwave       1.042          1.680          -1.295         0              270            0
  83  Fridge          0.966          0.0            1.253          0              0              0
  84  HousePlant      -1.354         0.919          -1.540         0              0              0
  85  Shelf           -1.635         0.172          2.715          0              180            0
  86  Shelf           -1.635         0.552          2.715          0              180            0
  87  Shelf           -1.635         0.880          2.715          0              180            0
  88  ShelvingUnit    -1.635         0.006          2.715          0              180            0
  89  Chair           -1.832         0.002          -0.034         0              119.999        0
  90  Chair           -1.854         0.002          -0.956         0              67.887         0
  91  Faucet          -0.867         1.161          -0.651         0              0              0
  92  NorthWall
  93  EastWall
  94  SouthWall
  95  WestWall

Plan:
STEP 1: Turn right and go to the right of the island.  Go to the stove. | STEP 2: Open the microwave.  Grab the green cup that is to the left of the white one. Shut the microwave door. | STEP 3: With the green cup in hand turn all the way around to go to the sink. | STEP 4: Place the cup in the sink to the left of the fork. | STEP 5: Pick up the fork that is in the sink and to the left of the tomato. | STEP 6: Place the fork in the cup that is in the sink. | END