Task: Put the mug 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           -1.25          0.900          -0.25          0              180            0
   1  Potato          0.432          0.942          0.209          0              0              0              45
   2  Fork            0.701          0.920          -1.649         0              270            0              44
   3  Spoon           -0.175         0.913          -1.571         0              0              0              46
   4  Plate           -0.198         0.111          -1.508         0              0              0              55
   5  Plate           1.658          0.913          -1.820         0              0              0              46
   6  Tomato          -2.047         1.541          -1.806         0              0              0              76
   7  Bowl            -0.451         0.911          -1.654         0              0              0              46
   8  Bowl            -2.135         0.510          -1.763         0              0              0              76
   9  SaltShaker      -1.791         0.948          0.704          0              90             0              79
  10  SaltShaker      -2.203         0.948          0.704          0              90             0              79
  11  PepperShaker    -1.791         0.948          0.165          0              90             0              79
  12  PepperShaker    -2.065         0.948          0.345          0              90             0              79
  13  Bread           -2.065         1.035          0.524          0              90             0              79
  14  Mug             -0.343         1.323          -1.883         0              180            0              40
  15  Mug             0.618          0.945          0.469          0              180            0              70
  16  Mug             -0.359         0.907          -1.903         0              0              0              46
  17  Bread           1.724          0.995          0.375          0              0              0              61
  18  Knife           1.846          0.937          0.540          0              0              0              61
  19  Fork            -0.267         0.912          -1.737         0              0              0              46
  20  Bowl            -1.791         0.951          0.345          0              90             0              79
  21  Kettle          0.035          0.913          0.375          0              0              0              45
  22  Cup             0.306          0.774          -1.552         0              270            0              69
  23  Tomato          -2.477         1.001          0.165          0              90             0              79
  24  SoapBottle      -1.928         0.950          0.165          0              90             0              79
  25  Plate           -2.614         0.953          0.345          0              90             0              79
  26  Pot             1.361          0.962          0.561          0              270            0              51
  27  Spatula         0.009          0.927          -1.654         0              90             0              46
  28  PaperTowelRoll  1.968          1.016          0.540          0              0              0              61
  29  Egg             -0.427         0.105          0.569          0              90             0              75
  30  Lettuce         0.851          1.001          -1.537         0              231.490        0              44
  31  SaltShaker      0.504          0.106          0.233          0              0              0              57
  32  PepperShaker    -2.203         0.948          0.255          0              90             0              79
  33  Apple           -1.872         1.559          -1.677         0              0              0              76
  34  ButterKnife     1.412          0.912          -1.737         0              0              0              46
  35  Potato          -0.394         0.100          0.439          0              90             0              75
  36  Pan             1.022          0.959          0.288          0              219.190        0              58
  37  DishSponge      0.908          0.919          -1.715         0              270            0              44
  38  Spoon           -2.340         0.953          0.345          0              90             0              79
  39  Mug             -1.791         0.947          0.524          0              90             0              79
  40  Cabinet         -0.193         1.688          -1.648         0              180            0
  41  StoveBurner     1.360          0.957          0.293          0              180            0
  42  Drawer          0.499          0.792          0.296          0              0              0
  43  Cabinet         0.095          0.400          -1.352         0              180            0
  44  Sink            0.711          0.817          -1.772         0              270            0
  45  CounterTop      0.280          0.947          0.458          0              0              0
  46  CounterTop      -0.680         0.947          -1.654         0              0              0
  47  Drawer          1.825          0.792          0.296          0              0              0
  48  StoveBurner     1.007          0.957          0.561          0              270            0
  49  Drawer          -0.150         0.792          -1.496         0              0              0
  50  Drawer          -0.586         0.792          -1.496         0              0              0
  51  StoveBurner     1.360          0.957          0.561          0              270            0
  52  Drawer          0.024          0.792          0.296          0              0              0
  53  Cabinet         1.079          0.400          -1.349         0              180            0
  54  Cabinet         1.669          0.402          0.151          0              0              0
  55  Cabinet         0.055          0.402          -1.351         0              0              0
  56  Cabinet         -0.180         0.402          0.151          0              0              0
  57  Cabinet         0.729          0.402          0.151          0              0              0
  58  StoveBurner     1.007          0.957          0.293          0              180            0
  59  Drawer          -1.100         0.792          -1.496         0              0              0
  60  Cabinet         -0.396         0.402          -1.351         0              0              0
  61  CounterTop      1.776          0.947          0.458          0              0              0
  62  Cabinet         1.974          1.688          -1.648         0              180            0
  63  Cabinet         -0.820         0.400          -1.349         0              180            0
  64  Toaster         0.305          0.900          0.552          0              180            0
  65  LightSwitch     -2.756         1.307          -0.987         0              90             0
  66  Window          0.582          1.613          -1.967         90             0              0
  67  Window          1.969          1.5            -0.615         90             270            0
  68  Microwave       -1.037         0.900          -1.723         0              0              0
  69  SinkBasin       0.377          0.765          -1.655         0              270            0
  70  CoffeeMachine   0.618          0.900          0.600          0              180            0
  71  StoveKnob       1.246          0.913          0.118          45             180            0
  72  StoveKnob       1.373          0.913          0.118          45             180            0
  73  StoveKnob       0.995          0.913          0.118          45             180            0
  74  StoveKnob       1.126          0.913          0.118          45             180            0
  75  GarbageCan      -0.368         -0.029         0.539          0              90             0
  76  Fridge          -2.134         0.0            -1.690         0              0              0
  77  Faucet          0.549          1.046          -1.833         0              232.527        0
  78  Stool           -1.475         0.000          0.414          1.233          280.375        0
  79  DiningTable     -2.255         -0.004         0.432          0              0              0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Move to the counter right of the sink. | STEP 2: Pick up the fork on the counter.  | STEP 3: Put the fork in the mug on the counter.  | STEP 4: Pick up the mug with fork on the counter.  | STEP 5: Bring the mug to the sink.  | STEP 6: Put the mug in the sink.  | END