Task: Putting a mug with a fork in it on the black 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          1.0            0              90             0
   1  Potato          -2.049         1.362          2.069          0              0              0              45
   2  WineBottle      -1.094         1.323          -3.203         0              0              0              45
   3  Fork            -1.890         1.051          -0.542         0              0              0              63
   4  Spoon           0.897          0.741          1.019          0              0              0              75
   5  Spoon           0.858          0.461          0.983          0              90             0              72
   6  Spatula         0.492          1.337          -2.789         0              0              0              45
   7  Pot             -0.749         1.332          -2.973         0              0              0              48
   8  SoapBottle      -1.665         0.344          -2.362         0              0              0              41
   9  SoapBottle      -1.401         1.323          -2.201         0              0              0              45
  10  Bowl            0.957          1.944          1.788          0              270            0              58
  11  Lettuce         0.420          1.399          -3.232         0              0              0              45
  12  Lettuce         -1.920         1.399          0.770          0              0              0              45
  13  Mug             1.095          1.670          1.663          0              0              0              58
  14  Mug             -1.698         1.046          -0.496         0              0              0              63
  15  Apple           1.115          1.359          0.861          0              270            0              70
  16  Apple           1.148          1.359          1.016          0              270            0              70
  17  Bread           -1.513         1.380          0.662          0              0              0              45
  18  Pot             -0.125         1.332          -2.973         0              0              0              53
  19  Knife           0.563          1.352          -3.011         0              270            0              45
  20  Bowl            -1.451         1.321          -2.981         0              0              0              45
  21  Potato          0.634          1.362          -3.011         0              0              0              45
  22  SoapBottle      -1.818         0.344          1.627          0              0              0              46
  23  Fork            1.023          0.740          0.983          0              90             0              69
  24  Cup             1.056          1.672          1.545          0              270            0              58
  25  Kettle          -1.886         0.344          1.420          0              0              0              46
  26  Egg             0.933          1.986          1.494          0              270            0              58
  27  Pan             -2.049         1.322          -1.681         0              0              0              45
  28  SaltShaker      0.766          1.318          -3.164         0              0              0              45
  29  WineBottle      -1.660         1.323          1.419          0              0              0              45
  30  Lettuce         -1.891         1.399          -1.067         5.778          0              355.666        52
  31  Spatula         -1.648         1.343          -1.255         0              0              0              76
  32  PaperTowelRoll  -1.401         1.427          -2.721         0              0              0              45
  33  Tomato          -1.165         1.356          -2.870         0              0              0              45
  34  Plate           0.976          0.345          -2.267         0              180            0              44
  35  PepperShaker    -1.546         0.338          0.110          0              0              0              43
  36  DishSponge      -1.884         0.343          0.613          0              0              0              43
  37  Spoon           -1.237         1.324          -3.314         0              0              0              45
  38  Apple           0.563          1.371          -2.789         0              0              0              45
  39  Mug             0.965          1.371          -1.534         0              270            0              66
  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
  76
  77  NorthWall
  78  EastWall
  79  SouthWall
  80  WestWall

Plan:
STEP 1: Turn around and head to the sink | STEP 2: Grab the fork out of the sink | STEP 3: Put the fork back in the mug in the sink | STEP 4: Grab the mug out of the sink | STEP 5: Turn around and head to the microwave | STEP 6: Place the mug on the black counter | END