Task: Put a mug with a fork in it on the counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.901          2.5            0              180            0
   1  Potato          -2.377         0.926          2.706          0              0              0              75
   2  DishSponge      -0.572         0.900          2.731          0              0              0              77
   3  DishSponge      -0.572         0.900          2.329          0              0              0              77
   4  ButterKnife     -2.303         0.928          0.602          0              0              0              54
   5  Spatula         -0.487         0.677          0.519          0              270            0              43
   6  Fork            -2.323         0.662          0.300          0              90             0              62
   7  Fork            -0.228         0.901          3.133          0              0              0              77
   8  Pot             -0.486         0.900          3.334          0              0              0              77
   9  Egg             -0.456         1.051          0.267          0              0              0              73
  10  Egg             -2.878         0.332          4.649          0              90             0              Floor|-00.05|
  11  Cup             -1.746         1.773          0.297          0              0              0              51
  12  Cup             -2.480         0.900          2.706          0              0              0              75
  13  Plate           -0.228         0.904          2.530          0              0              0              77
  14  Knife           -2.485         0.688          0.409          0              90             0              62
  15  Knife           -2.480         0.926          2.441          0              0              0              75
  16  PepperShaker    -1.878         0.658          0.519          0              0              0              57
  17  PepperShaker    -2.785         0.931          3.209          0              0              0              61
  18  Bread           -2.686         0.957          2.309          0              0              0              75
  19  Lettuce         -1.637         1.007          0.518          0              0              0              54
  20  Apple           -1.007         0.852          0.447          0              0              0              72
  21  Apple           -3.022         0.991          3.209          0              0              0              61
  22  Egg             -2.686         0.933          2.045          0              0              0              75
  23  Plate           -2.805         0.636          4.501          0              90             0              71
  24  Fork            -1.266         0.796          0.392          0              270            0              72
  25  Bread           -2.864         0.940          1.983          0              0              0              75
  26  Apple           -1.094         0.852          0.447          0              0              0              72
  27  Lettuce         -0.572         0.980          2.530          0              0              0              77
  28  Spatula         -2.480         0.915          2.045          0              0              0              75
  29  Knife           -0.433         0.688          0.355          0              90             0              43
  30  Potato          -2.628         0.961          3.766          0              0              0              61
  31  Tomato          -2.764         0.696          4.278          0              90             0              71
  32  Cup             -2.549         0.935          3.209          0              0              0              61
  33  SaltShaker      -2.549         0.931          3.580          0              0              0              61
  34  PepperShaker    -1.878         0.658          0.245          0              0              0              57
  35  ButterKnife     -0.228         0.900          2.932          0              0              0              77
  36  SoapBottle      -0.143         0.900          2.329          0              180            0              77
  37  Pan             -0.250         0.926          4.651          0              0              0              56
  38  DishSponge      -2.850         0.053          0.385          0              26.101         0              78
  39  Pot             -0.535         0.928          4.274          0              0              0              58
  40  Spoon           -1.180         0.797          0.392          0              0              0              72
  41  Mug             -1.007         0.790          0.281          0              0              0              72
  42  Bowl            -2.878         0.295          4.501          0              90             0              71
  43  Drawer          -0.325         0.696          0.413          0              0              0
  44  Cabinet         -0.595         0.490          0.648          0              0              0
  45  Cabinet         -0.555         0.490          0.646          0              0              0
  46  Cabinet         -1.591         0.490          0.646          0              0              0
  47  Cabinet         -1.554         0.490          0.646          0              0              0
  48  Cabinet         -2.550         0.490          0.646          0              0              0
  49  Cabinet         -1.514         2.046          0.392          0              0              0
  50  Cabinet         -2.474         2.046          0.392          0              0              0
  51  Cabinet         -1.478         2.046          0.392          0              0              0
  52  Cabinet         -0.518         2.046          0.392          0              0              0
  53  Cabinet         -0.479         2.046          0.392          0              0              0
  54  CounterTop      -1.366         0.952          0.349          0              0              0
  55  Sink            -1.108         0.926          0.340          0              0              0
  56  StoveBurner     -0.254         0.922          4.672          0              0              0
  57  Drawer          -1.824         0.696          0.413          0              0              0
  58  StoveBurner     -0.535         0.922          4.274          0              0              0
  59  StoveBurner     -0.254         0.922          4.274          0              0              0
  60  StoveBurner     -0.536         0.922          4.672          0              0              0
  61  CounterTop      -2.780         0.971          3.487          0              0              0
  62  Drawer          -2.323         0.696          0.413          0              0              0
  63  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  66  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  67  Toaster         -0.286         0.861          3.520          0              270            0
  68  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  69  LightSwitch     -0.064         1.447          1.996          0              270            0
  70  Window          -3.075         1.593          1.361          90             90             0
  71  Fridge          -2.802         0.0            4.427          0              0              0
  72  SinkBasin       -1.106         0.785          0.337          0              0              0
  73  Microwave       -0.358         0.917          0.224          0              0              0
  74  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  75  DiningTable     -2.733         -0.003         2.607          0              270            0
  76  Faucet          -1.077         0.920          0.028          270            270            0
  77  DiningTable     -0.488         -0.003         3.182          0              270            0
  78
  79  NorthWall
  80  EastWall
  81  SouthWall
  82  WestWall

Plan:
STEP 1: Turn right and walk forward, then turn left and walk over to the sink. | STEP 2: Pick up the metal fork that is in the sink. | STEP 3: Turn left and walk towards the door, then turn right to face the sink. | STEP 4: Put the fork in the mug that is in the sink. | STEP 5: Pick up the mug with the fork in it. | STEP 6: Turn right and walk towards the wall, then turn left to face the counter. | STEP 7: Put the mug with the fork in it on the front edge of the counter to the right of the head of lettuce. | END