Task: Place a mug with a fork in it on a counter.

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           1.124          -2.25          0              270            0
   1  Pan             -0.239         1.331          -3.301         0              180            0              40
   2  DishSponge      0.747          0.344          -1.957         0              180            0              44
   3  DishSponge      -1.237         1.322          -2.870         0              0              0              45
   4  Spatula         -1.698         1.066          -0.451         0              270            0              63
   5  Spatula         -2.004         1.351          -1.186         0              180            0              52
   6  Egg             0.928          2.069          1.994          0              270            0              58
   7  Knife           -2.004         1.366          -0.980         0              180            0              52
   8  Knife           -1.737         1.358          -1.049         0              180            0              52
   9  Bowl            1.053          0.343          -2.371         0              180            0              44
  10  Bowl            0.824          0.343          -1.751         0              180            0              44
  11  SaltShaker      -1.401         1.318          -2.201         0              0              0              45
  12  PepperShaker    -1.363         1.318          -0.801         0              0              0              45
  13  Bread           -2.049         1.397          -3.241         0              0              0              45
  14  Lettuce         -1.165         1.399          -3.314         0              0              0              45
  15  Apple           0.944          1.256          1.238          0              0              0              70
  16  Apple           -1.657         0.329          2.193          0              270            0              60
  17  Bread           -1.513         1.380          0.662          0              0              0              45
  18  Pot             -1.682         0.350          1.523          0              0              0              46
  19  Knife           -1.530         1.352          -3.241         0              0              0              45
  20  Bowl            0.976          0.343          -2.061         0              180            0              44
  21  Potato          -1.826         1.372          -0.911         0              0              0              52
  22  SoapBottle      0.747          0.345          -2.164         0              180            0              44
  23  Fork            -1.530         1.323          -2.981         0              0              0              45
  24  Cup             -2.049         1.320          1.419          0              0              0              45
  25  Kettle          -0.125         1.332          -2.973         0              0              0              53
  26  Egg             1.017          1.798          2.112          0              270            0              58
  27  Pan             -0.630         1.331          -3.301         0              180            0              42
  28  SaltShaker      -2.179         1.318          1.744          0              0              0              45
  29  WineBottle      -1.451         1.323          -3.425         0              0              0              45
  30  Lettuce         -1.920         1.399          -2.201         0              0              0              45
  31  Spatula         -2.179         1.337          -2.461         0              90             0              45
  32  PaperTowelRoll  -1.920         1.427          0.770          0              0              0              45
  33  Tomato          0.920          1.558          1.477          0              270            0              58
  34  Plate           -1.665         0.344          -2.162         0              0              0              41
  35  PepperShaker    -1.954         0.338          1.523          0              0              0              46
  36  DishSponge      -1.682         0.343          1.110          0              0              0              46
  37  Spoon           -1.603         0.421          -1.086         0              0              0              51
  38  Apple           1.017          1.724          1.604          0              270            0              58
  39  Mug             0.766          1.318          -2.053         0              0              0              59
  40  StoveBurner     -0.239         1.325          -3.301         0              180            0
  41  Cabinet         -1.461         0.775          -2.002         0              0              0
  42  StoveBurner     -0.630         1.325          -3.301         0              180            0
  43  Cabinet         -1.461         0.775          0.470          0              0              0
  44  Cabinet         0.578          0.776          -2.054         0              0              0
  45  CounterTop      -1.809         1.358          1.182          0              0              0
  46  Cabinet         -1.461         0.775          1.310          0              0              0
  47  Faucet          -2.063         1.362          -0.726         0              39.391         0
  48  StoveBurner     -0.749         1.325          -2.973         0              0              0
  49  Drawer          -1.610         0.681          -0.430         0              0              0
  50  Window          -2.566         1.799          -0.822         270            0              0
  51  Drawer          -1.610         0.681          -1.217         0              0              0
  52  Sink            -1.990         1.143          -0.975         0              0              0
  53  StoveBurner     -0.125         1.325          -2.973         0              0              0
  54  StoveKnob       -0.185         1.338          -2.741         0              270            180
  55  StoveKnob       -0.336         1.338          -2.741         0              270            180
  56  StoveKnob       -0.569         1.338          -2.741         0              270            180
  57  StoveKnob       -0.707         1.338          -2.741         0              270            180
  58  Fridge          1.013          0.227          1.917          0              270            0
  59  Microwave       0.994          1.310          -2.163         0              270            0
  60  GarbageCan      -1.633         0.212          2.192          0              270            0
  61  LightSwitch     1.386          1.565          -0.657         0              270            0
  62  HousePlant      -2.027         1.311          -0.026         0              284.058        0
  63  SinkBasin       -1.835         1.039          -0.542         0              0              0
  64  ButterKnife     0.873          0.468          0.651          0              0              0
  65  Toaster         -1.885         1.310          -2.512         0              90             0
  66  CoffeeMachine   1.129          1.310          -1.426         0              270            0
  67  Drawer          0.647          1.061          0.680          0              270            0
  68  Drawer          0.648          1.061          1.020          0              270            0
  69  Drawer          0.648          0.843          1.020          0              270            0
  70  SideTable       0.975          0.220          0.869          0              270            0
  71  Drawer          0.648          0.602          0.680          0              270            0
  72  Drawer          0.648          0.596          1.020          0              270            0
  73  Drawer          0.648          0.843          0.680          0              270            0
  74  Stool           0.606          0.222          -1.084         1.233          280.489        0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: Turn to your left and face the counter. | STEP 2: Pick up the fork to the right of the sponge. | STEP 3: Turn around, then walk to the counter towards your right. | STEP 4: Place the fork in the mug on the counter. | STEP 5: Pick up the mug from the counter. | STEP 6: Turn left and walk until you get to the microwave on your right. | STEP 7: Place the mug on the left side of the counter with the microwave on it, in front of the apple. | END