Task: Move the mug to the table, place a fork in mug.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          3.0            0              270            0
   1  Potato          0.064          1.132          0.278          0              0              0              74
   2  Potato          2.009          1.550          5.251          0              270            0              80
   3  DishSponge      0.123          0.759          6.107          0              135            0              94
   4  ButterKnife     -0.413         0.772          0.451          0              0              0              54
   5  Kettle          1.562          0.988          3.848          0              0              0              52
   6  Spoon           1.225          0.993          0.440          0              0              0              58
   7  Spatula         -0.011         0.786          0.618          0              270            0              55
   8  Fork            0.305          0.760          6.416          0              270            0              94
   9  Fork            1.404          0.772          3.223          0              0              0              51
  10  Fork            -0.034         0.760          6.478          0              0              0              94
  11  Egg             1.966          1.565          5.501          0              270            0              80
  12  Cup             0.301          0.756          6.674          0              225            0              94
  13  Cup             -0.003         0.756          6.291          0              270            0              94
  14  Knife           -0.481         0.802          0.451          0              90             0              54
  15  Knife           -0.312         0.789          6.541          0              0              0              94
  16  Tomato          0.212          0.809          6.196          0              135            0              94
  17  Tomato          -0.221         0.809          6.787          0              0              0              94
  18  SoapBottle      0.885          0.143          0.497          0              0              0              64
  19  SoapBottle      1.540          2.207          4.175          0              0              0              46
  20  PepperShaker    1.135          0.987          4.670          0              0              0              59
  21  PepperShaker    -0.413         0.139          0.277          0              0              0              66
  22  Mug             0.273          1.092          0.278          0              0              0              74
  23  Bowl            1.406          0.139          3.217          0              0              0              69
  24  Bread           1.493          1.062          0.440          0              0              0              58
  25  Egg             2.009          1.565          6.001          0              270            0              80
  26  Knife           0.668          0.802          0.451          0              90             0              50
  27  Fork            -0.034         0.760          6.632          0              0              0              94
  28  Apple           1.442          0.965          2.576          0              90             0              81
  29  Kettle          1.573          0.141          1.938          0              0              0              47
  30  Plate           1.322          0.141          1.938          0              0              0              47
  31  SaltShaker      0.028          0.755          6.787          0              0              0              94
  32  Lettuce         0.696          1.081          0.578          0              0              0              58
  33  SoapBottle      1.455          1.576          4.754          0              0              0              62
  34  Spatula         0.544          1.007          0.212          0              90             0              58
  35  PaperTowelRoll  1.956          0.185          6.498          0              0              0              82
  36  Pot             1.559          0.988          4.294          0              0              0              56
  37  Potato          2.051          1.550          5.376          0              270            0              80
  38  ButterKnife     -0.079         0.771          0.507          0              90             0              55
  39  PepperShaker    -0.399         0.755          6.895          0              135            0              94
  40  Pan             0.885          0.141          0.260          0              90             0              64
  41  Tomato          -0.158         0.809          6.291          0              270            0              94
  42  DishSponge      0.169          0.759          6.807          0              225            0              94
  43  Cup             -0.312         0.756          6.666          0              270            0              94
  44  Spoon           0.056          0.773          0.618          0              0              0              55
  45  Mug             1.384          1.043          0.847          0              270            0              58
  46  Cabinet         1.307          2.455          4.360          0              0              0
  47  Cabinet         1.054          0.422          1.710          0              0              0
  48  Drawer          1.280          0.808          4.718          0              0              0
  49  Cabinet         1.307          2.455          3.607          0              0              0
  50  Drawer          0.736          0.802          0.521          0              0              0
  51  Drawer          1.276          0.802          3.291          0              0              0
  52  StoveBurner     1.562          0.982          3.848          0              0              0
  53  StoveBurner     1.317          0.982          4.294          0              0              0
  54  Drawer          -0.482         0.802          0.521          0              0              0
  55  Drawer          0.124          0.802          0.521          0              0              0
  56  StoveBurner     1.559          0.982          4.294          0              0              0
  57  StoveBurner     1.320          0.982          3.848          0              0              0
  58  CounterTop      1.391          1.028          0.897          0              0              0
  59  CounterTop      1.391          1.028          4.716          0              0              0
  60  Cabinet         1.054          0.422          4.548          0              0              0
  61  Cabinet         1.317          2.134          0.517          0              0              0
  62  Cabinet         1.317          2.134          4.889          0              0              0
  63  Cabinet         1.317          2.134          3.095          0              0              0
  64  Cabinet         0.443          0.422          0.743          0              0              0
  65  Cabinet         1.270          2.134          0.434          0              0              0
  66  Cabinet         -0.775         0.422          0.743          0              0              0
  67  Cabinet         -0.168         0.422          0.743          0              0              0
  68  Cabinet         1.317          2.134          1.534          0              0              0
  69  Cabinet         1.054          0.422          2.990          0              0              0
  70  Cabinet         1.054          0.422          2.944          0              0              0
  71  Cabinet         -0.263         2.134          0.434          0              0              0
  72  Cabinet         0.252          2.134          0.434          0              0              0
  73  Sink            1.391          1.006          2.326          0              0              0
  74  Microwave       0.108          0.981          0.262          0              0              0
  75  HousePlant      -0.165         0.826          6.444          0              0              0
  76  CoffeeMachine   1.551          0.982          0.953          0              270            0
  77  Toaster         1.473          0.981          4.715          0              270            0
  78  Window          -2.065         1.916          3.626          90             90             0
  79  Window          1.763          2.007          2.299          90             270            0
  80  Fridge          2.035          0.0            5.625          0              0              0
  81  SinkBasin       1.387          0.880          2.338          0              90             0
  82  GarbageCan      2.001          -0.044         6.503          0              0              0
  83  StoveKnob       1.140          0.934          3.987          45             270            0
  84  StoveKnob       1.140          0.934          4.309          45             270            0
  85  StoveKnob       1.140          0.934          4.140          45             270            0
  86  StoveKnob       1.140          0.934          3.824          45             270            0
  87  Vase            -0.226         0.834          6.993          0              0              0
  88  Vase            2.098          0.043          7.070          0              257.232        0
  89  Vase            -0.594         0.835          6.130          0              225            0
  90  LightSwitch     -2.0           1.549          6.045          0              90             0
  91  Safe            2.046          1.072          7.054          0              257.232        0
  92  Faucet          1.534          1.025          2.371          0              294.391        0
  93  Blinds          1.738          2.563          2.312          0              90             0
  94  DiningTable     -0.156         0.000          6.474          0              0              0
  95  Chair           0.291          0.002          6.142          0              310.162        0
  96  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: Turn left, walk to counter, right to the coffee maker | STEP 2: Pick up the mug from the coffee maker. | STEP 3: Walk left to the right side of the table. | STEP 4: Place mug on table between the forks. | STEP 5: Pick up fork closest to the plant. | STEP 6: Place the fork in the mug. | END