Task: Putting a black mug with a fork in it on a table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.901          1.25           0              90             0
   1  Potato          -0.657         0.926          2.731          0              0              0              78
   2  Potato          -1.770         0.954          0.348          0              0              0              55
   3  DishSponge      -0.400         0.900          2.731          0              0              0              78
   4  DishSponge      -0.921         0.795          0.392          0              0              0              73
   5  Spoon           -2.377         0.901          2.441          0              0              0              76
   6  Spoon           -2.583         0.901          2.706          0              90             0              76
   7  Fork            -1.770         0.662          0.519          0              270            0              58
   8  Fork            -2.864         0.936          3.209          0              0              0              62
   9  Fork            -2.377         0.662          0.355          0              0              0              63
  10  Egg             -2.805         0.665          4.352          0              90             0              72
  11  Plate           -2.789         0.904          2.177          0              0              0              76
  12  Plate           -1.193         1.777          0.251          0              0              0              52
  13  SoapBottle      -0.143         0.900          3.133          0              0              0              78
  14  Bowl            -0.244         1.015          0.235          0              0              0              74
  15  SaltShaker      -0.139         1.769          0.251          0              0              0              52
  16  PepperShaker    -0.802         1.769          0.160          0              0              0              53
  17  Bread           -0.314         0.957          2.329          0              0              0              78
  18  Lettuce         -2.480         0.980          2.573          0              0              0              76
  19  Lettuce         -2.480         0.980          2.309          0              0              0              76
  20  Mug             -2.888         1.181          4.427          0              90             0              72
  21  Mug             -2.892         0.895          2.441          0              0              0              76
  22  Apple           -2.925         0.355          4.575          0              90             0              72
  23  Egg             -2.847         0.665          4.278          0              90             0              72
  24  Plate           -2.738         0.303          4.427          0              90             0              72
  25  Fork            -0.487         0.662          0.300          0              90             0              44
  26  Bread           -2.805         0.689          4.501          0              90             0              72
  27  Apple           -1.637         0.984          0.602          0              0              0              55
  28  Lettuce         -2.847         1.266          4.278          0              180            0              72
  29  Spatula         -0.228         0.915          3.133          0              0              0              78
  30  Knife           -1.007         0.821          0.337          0              0              0              73
  31  Potato          -0.400         0.926          2.932          0              0              0              78
  32  Tomato          -2.995         0.964          2.177          0              0              0              76
  33  Cup             -1.636         1.773          0.205          0              0              0              52
  34  SaltShaker      -1.662         0.658          0.519          0              0              0              58
  35  PepperShaker    -2.170         0.924          0.602          0              0              0              55
  36  ButterKnife     -0.486         0.900          2.731          0              0              0              78
  37  SoapBottle      -2.686         0.900          2.573          0              0              0              76
  38  Pan             -0.250         0.926          4.651          0              0              0              57
  39  DishSponge      -1.932         0.661          0.409          0              0              0              58
  40  Pot             -0.535         0.928          4.274          0              0              0              59
  41  Spoon           -0.686         0.929          0.650          0              0              0              55
  42  Mug             -0.657         0.895          2.329          0              0              0              78
  43  Bowl            -1.801         1.770          0.297          0              90             0              50
  44  Drawer          -0.325         0.696          0.413          0              0              0
  45  Cabinet         -0.595         0.490          0.648          0              0              0
  46  Cabinet         -0.555         0.490          0.646          0              0              0
  47  Cabinet         -1.591         0.490          0.646          0              0              0
  48  Cabinet         -1.554         0.490          0.646          0              0              0
  49  Cabinet         -2.550         0.490          0.646          0              0              0
  50  Cabinet         -1.514         2.046          0.392          0              0              0
  51  Cabinet         -2.474         2.046          0.392          0              0              0
  52  Cabinet         -1.478         2.046          0.392          0              0              0
  53  Cabinet         -0.518         2.046          0.392          0              0              0
  54  Cabinet         -0.479         2.046          0.392          0              0              0
  55  CounterTop      -1.366         0.952          0.349          0              0              0
  56  Sink            -1.108         0.926          0.340          0              0              0
  57  StoveBurner     -0.254         0.922          4.672          0              0              0
  58  Drawer          -1.824         0.696          0.413          0              0              0
  59  StoveBurner     -0.535         0.922          4.274          0              0              0
  60  StoveBurner     -0.254         0.922          4.274          0              0              0
  61  StoveBurner     -0.536         0.922          4.672          0              0              0
  62  CounterTop      -2.780         0.971          3.487          0              0              0
  63  Drawer          -2.323         0.696          0.413          0              0              0
  64  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  66  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  67  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  68  Toaster         -0.286         0.861          3.520          0              270            0
  69  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  70  LightSwitch     -0.064         1.447          1.996          0              270            0
  71  Window          -3.075         1.593          1.361          90             90             0
  72  Fridge          -2.802         0.0            4.427          0              0              0
  73  SinkBasin       -1.106         0.785          0.337          0              0              0
  74  Microwave       -0.358         0.917          0.224          0              0              0
  75  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  76  DiningTable     -2.733         -0.003         2.607          0              270            0
  77  Faucet          -1.077         0.920          0.028          270            270            0
  78  DiningTable     -0.488         -0.003         3.182          0              270            0
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Turn around and go to the table with the coffee maker on it | STEP 2: Grab the fork that's on the table | STEP 3: Turn left and stop at the white table on the right | STEP 4: Put the fork in the black mug on the table | STEP 5: Grab the mug off of the table | STEP 6: Turn right and stop at the table with the coffee maker | STEP 7: Put the mug on the table | END