Task: Put the mug with fork 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           -1.5           0.900          -1.25          0              0              0
   1  Pencil          -0.478         0.747          -3.297         0              270            0              60
   2  Pencil          -2.666         0.923          -1.423         0              0              0              74
   3  Pen             -2.096         0.926          -1.654         0              0              0              74
   4  Potato          -0.246         1.422          -1.084         0              270            0              66
   5  WineBottle      -2.780         0.924          -2.345         0              0              0              74
   6  Pot             -1.515         0.935          -3.497         0              0              0              46
   7  Spoon           -2.096         0.924          -2.115         0              0              0              74
   8  Knife           -2.324         0.946          -2.345         0              0              0              74
   9  Plate           -0.422         0.083          -1.804         0              0              0              44
  10  Cup             -1.309         1.629          -3.870         0              0              0              62
  11  SoapBottle      -2.666         0.922          -1.884         0              0              0              74
  12  SoapBottle      -2.096         0.922          -1.423         0              0              0              74
  13  Tomato          -2.666         0.987          -2.115         0              0              0              74
  14  Bread           -0.295         1.151          -0.560         0              270            0              66
  15  Bread           -0.295         1.443          -0.560         0              270            0              66
  16  PepperShaker    -0.749         0.743          -3.586         0              0              0              48
  17  Apple           -0.457         0.989          -3.909         0              0              0              49
  18  Apple           -0.392         1.172          -1.084         0              270            0              66
  19  Apple           -1.881         0.100          -3.763         0              0              0              65
  20  Lettuce         -2.562         1.002          -1.677         36.385         0              0              74
  21  Glassbottle     -0.350         1.531          -3.582         0              45             0              57
  22  Egg             -1.362         1.663          -3.770         0              0              0              62
  23  Pen             -2.780         0.926          -2.115         0              0              0              74
  24  Fork            -2.666         0.924          -2.345         0              0              0              74
  25  SoapBottle      -2.552         0.922          -1.193         0              0              0              74
  26  Pencil          -0.449         0.747          -3.238         0              90             0              60
  27  WineBottle      -2.210         0.924          -1.884         0              0              0              74
  28  Spatula         -0.3           0.915          -2.544         0              22.903         0              49
  29  Bread           -0.415         0.952          -3.625         0              0              0              49
  30  Tomato          -2.552         0.987          -0.963         0              0              0              74
  31  Pan             -2.174         0.913          -1.099         0              0              0              74
  32  Cup             -0.295         1.097          -0.979         0              270            0              66
  33  Pot             -1.129         0.935          -3.498         0              0              0              47
  34  SaltShaker      -0.942         1.965          -3.851         0              0              0              58
  35  Potato          -2.780         0.954          -1.884         0              270            0              74
  36  PepperShaker    -0.809         0.078          -3.467         0              0              0              53
  37  ButterKnife     -2.324         0.923          -1.884         0              0              0              74
  38  DishSponge      -1.549         1.969          -3.812         0              0              0              58
  39  Spoon           -2.666         0.924          -1.423         0              0              0              74
  40  Plate           -0.382         0.083          -3.267         0              0              0              55
  41  Knife           -2.552         0.946          -2.115         0              90             0              74
  42  Mug             -0.302         0.792          -2.082         0              270            0              67
  43  Bowl            -0.268         1.689          -0.874         0              270            0              66
  44  Cabinet         -0.582         0.388          -1.804         0              0              0
  45  StoveBurner     -1.515         0.928          -3.752         0              90             0
  46  StoveBurner     -1.515         0.928          -3.497         0              0              0
  47  StoveBurner     -1.129         0.928          -3.498         0              0              0
  48  Drawer          -0.749         0.779          -3.551         0              0              0
  49  CounterTop      -0.303         0.951          -2.793         0              0              0
  50  Cabinet         -0.883         2.140          -3.687         0              0              0
  51  Cabinet         -0.312         2.140          -1.543         0              0              0
  52  Sink            -0.349         0.907          -2.014         0              0              0
  53  Cabinet         -0.877         0.388          -3.422         0              0              0
  54  Cabinet         -0.582         0.388          -2.197         0              0              0
  55  Cabinet         -0.584         0.388          -3.396         0              0              0
  56  Cabinet         -0.312         2.140          -2.481         0              0              0
  57  Cabinet         -0.330         1.921          -3.390         0              0              0
  58  Cabinet         -1.764         2.140          -3.687         0              0              0
  59  StoveBurner     -1.129         0.928          -3.752         0              90             0
  60  Drawer          -0.454         0.779          -3.268         0              0              0
  61  Cabinet         -0.302         1.916          -2.501         0              0              0
  62  Microwave       -1.317         1.517          -3.801         0              1.440          0
  63  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  64  LightSwitch     -4.323         1.319          0.0            0              180            0
  65  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  66  Fridge          -0.330         0.0            -0.769         0              270            0
  67  SinkBasin       -0.350         0.786          -2.018         0              270            0
  68  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  69  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  70  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  71  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  72  Toaster         -0.181         0.903          -2.764         0              270            0
  73  Window          -2.503         1.782          -4.185         90             180            0
  74  DiningTable     -2.432         0.000          -1.694         0              270            0
  75  Shelf           -2.432         0.150          -1.694         0              270            0
  76  Blinds          -2.536         2.699          -3.959         0              0              0
  77  Faucet          -0.079         0.904          -2.034         270            180            0
  78  Chair           -3.264         0.002          -2.094         0              53.280         0
  79  Chair           -3.240         0.002          -1.253         0              117.257        0
  80  Shelf           -2.432         0.523          -1.694         0              270            0
  81  NorthWall
  82  EastWall
  83  SouthWall
  84  WestWall

Plan:
STEP 1: Turn left walk straight then head to the  end of the table | STEP 2: Pick up the fork on the table | STEP 3: Turn right then head to the sink | STEP 4: Put the fork in the mug at the sink | STEP 5: Pick up the mug with fork in the sink | STEP 6: Turn around to your right facing the stove | STEP 7: Put the mug with fork on the left side of the sink | END