Task: Put a cup with a fork in 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          0.0            0              180            0
   1  Pan             -1.167         0.931          0.144          0              0              0              60
   2  Statue          -1.292         0.936          -1.167         0              0              0              60
   3  Vase            1.082          2.209          -1.626         0              270            0              67
   4  Potato          0.688          0.941          -1.879         0              0              0              66
   5  Potato          1.093          1.825          -1.132         0              270            0              82
   6  CreditCard      1.029          0.908          -1.879         0              0              0              66
   7  CellPhone       -1.041         0.930          -1.167         0              0              0              60
   8  DishSponge      -1.054         0.178          0.576          0              180            0              80
   9  DishSponge      -1.229         0.933          -0.380         0              0              0              60
  10  ButterKnife     1.114          0.911          -0.208         0              0              0              61
  11  Fork            0.834          0.494          -0.607         0              270            0              64
  12  Spoon           1.114          0.912          -0.208         0              0              0              61
  13  Spatula         -0.550         0.948          -1.540         0              0              0              60
  14  Spatula         -1.104         0.948          -0.905         0              0              0              60
  15  Cup             1.239          1.663          0.216          0              270            0              68
  16  Cup             1.199          0.908          -1.879         0              0              0              66
  17  Cup             -0.846         0.930          -0.067         0              0              0              60
  18  Plate           1.101          1.669          0.025          0              270            0              68
  19  Plate           0.859          0.914          -0.381         0              0              0              61
  20  Tomato          -0.912         0.219          0.608          0              180            0              80
  21  Tomato          -1.355         0.974          -0.905         0              0              0              60
  22  Bowl            -1.363         0.557          2.822          0              0              0              86
  23  Bowl            1.055          1.669          -2.166         0              270            0              59
  24  PepperShaker    0.773          0.907          -0.729         0              0              0              61
  25  Apple           -0.808         0.830          -0.573         0              90             0              81
  26  Statue          -0.698         0.936          0.009          0              0              0              60
  27  Glassbottle     1.056          1.667          -0.337         0              270            0              69
  28  Bread           0.773          0.992          0.139          0              0              0              61
  29  CreditCard      -1.467         0.551          2.563          0              0              0              86
  30  CellPhone       1.199          0.908          -0.381         0              0              0              61
  31  Potato          -0.642         0.811          -0.486         0              90             0              81
  32  Knife           0.868          0.700          -0.600         90             315            0              58
  33  Fork            -0.624         0.934          -1.231         0              0              0              60
  34  Pan             0.848          0.946          -1.080         0              0              0              54
  35  Lettuce         -0.697         0.857          -0.832         0              90             0              81
  36  Plate           0.844          1.405          1.158          0              270            0              83
  37  Apple           1.087          1.693          0.967          0              270            0              83
  38  Pot             1.077          0.950          -1.504         0              0              0              56
  39  Spatula         0.915          0.509          -0.690         0              0              0              64
  40  PaperTowelRoll  -1.363         0.658          2.563          0              0              0              86
  41  Tomato          1.026          0.903          1.349          0              270            0              83
  42  Egg             -0.698         0.971          -1.308         0              0              0              60
  43  SaltShaker      0.915          0.699          -0.690         0              270            0              58
  44  PepperShaker    0.753          0.150          -0.531         0              270            0              63
  45  Vase            1.194          1.666          -0.593         0              270            0              69
  46  ButterKnife     1.029          0.911          -0.034         0              0              0              61
  47  SoapBottle      1.169          2.208          -0.973         0              270            0              67
  48  Vase            -1.355         0.934          -0.643         0              0              0              60
  49  Bowl            0.761          0.111          -2.052         0              0              0              65
  50  DishSponge      0.833          0.153          -0.690         0              270            0              63
  51  Spoon           1.029          0.912          -0.729         0              0              0              61
  52  Cup             0.783          0.860          1.349          0              270            0              83
  53  Mug             1.028          1.790          -1.339         0              270            0              82
  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: Go right and stand at the counter to the left of the sink. | STEP 2: Pick the fork up off of the counter. | STEP 3: Go right and stand in front of the counter to the right of the sink and pick the fork up. | STEP 4: Put the fork in the green cup. | STEP 5: Pick the cup up from the counter. | STEP 6: Go left and stand in front of the sink. | STEP 7: Put the cup in the sink. | END