Task: Put a 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           -2.5           0.899          3.0            0              90             0
   1  WineBottle      -3.507         0.083          5.268          0              90             0              87
   2  Fork            -0.181         0.925          5.932          0              0              0              54
   3  Fork            -0.258         0.925          4.944          0              0              0              54
   4  Spoon           -0.488         0.926          6.261          0              0              0              54
   5  Spoon           -3.859         0.924          1.799          0              0              0              69
   6  Spatula         -0.181         0.940          5.603          0              0              0              54
   7  Spatula         -4.451         0.938          2.766          0              270            0              69
   8  Cup             -4.097         0.079          3.374          0              0              0              74
   9  Cup             -0.259         1.684          3.975          0              270            0              102
  10  Egg             -3.712         0.104          6.251          0              270            0              95
  11  Egg             -1.943         0.959          2.026          0              0              0              51
  12  Plate           -0.301         1.336          3.479          0              270            0              102
  13  SoapBottle      -3.639         0.068          6.457          0              270            0              95
  14  Tomato          -4.377         0.980          1.648          0              0              0              69
  15  PepperShaker    -1.777         0.919          1.724          0              0              0              51
  16  Lettuce         -4.184         1.018          5.418          0              90             0              69
  17  Lettuce         -0.348         1.165          3.355          0              270            0              102
  18  Apple           -4.233         0.844          3.347          0              270            0              101
  19  Egg             -1.610         0.959          2.026          0              0              0              51
  20  Apple           -0.258         0.978          5.273          0              0              0              54
  21  Knife           -4.242         0.953          2.649          0              0              0              69
  22  Potato          -3.712         0.102          6.416          0              270            0              95
  23  Fork            -4.196         0.791          3.285          0              270            0              101
  24  Bowl            -0.259         1.332          3.850          0              270            0              102
  25  Plate           -0.488         0.925          5.273          0              0              0              54
  26  Lettuce         -2.026         1.018          1.875          0              0              0              51
  27  Bread           -0.565         1.004          5.603          0              0              0              54
  28  Tomato          -4.159         0.848          3.159          0              270            0              101
  29  WineBottle      -1.610         0.924          1.648          0              0              0              51
  30  Spatula         -3.340         0.938          1.875          0              0              0              69
  31  PaperTowelRoll  -3.748         0.172          6.498          0              270            0              95
  32  Cup             -2.583         1.545          1.698          0              0              0              99
  33  Pencil          -3.852         0.923          5.182          0              90             0              69
  34  Pan             -2.469         0.930          1.712          0              270            0              84
  35  Pot             -2.924         0.930          1.712          0              180            0              66
  36  SaltShaker      -1.693         0.919          1.8            0              0              0              51
  37  SoapBottle      -3.784         0.068          6.292          0              90             0              95
  38  PepperShaker    -0.532         0.742          5.919          0              270            0              80
  39  ButterKnife     -1.943         0.923          1.648          0              180            0              51
  40  DishSponge      -0.532         0.746          6.152          0              270            0              80
  41  Spoon           -1.860         0.924          1.875          0              0              0              51
  42  Mug             -0.409         0.955          6.557          0              270            0              90
  43  Cabinet         -3.203         1.931          1.777          0              0              0
  44  Cabinet         -3.187         0.390          2.089          0              0              0
  45  Cabinet         -0.637         0.387          6.882          0              180            0
  46  Drawer          -3.797         0.781          1.961          0              0              0
  47  Cabinet         -3.036         0.387          5.029          0              90             0
  48  Drawer          -0.509         0.775          5.268          0              270            0
  49  Drawer          -4.125         0.798          2.499          0              0              0
  50  Cabinet         -0.331         2.249          4.308          0              180            0
  51  CounterTop      -1.872         0.958          1.799          0              0              0
  52  StoveBurner     -2.924         0.924          2.012          0              0              0
  53  Cabinet         -0.331         2.249          6.806          0              180            0
  54  CounterTop      -0.345         0.960          5.603          0              0              0
  55  Cabinet         -3.039         1.935          5.321          0              90             0
  56  Cabinet         -3.922         0.397          2.088          0              0              0
  57  StoveBurner     -2.467         0.924          2.012          0              0              0
  58  Cabinet         -0.331         2.249          5.505          0              180            0
  59  Drawer          -0.509         0.775          4.617          0              270            0
  60  Drawer          -3.509         0.777          5.157          0              180            0
  61  Cabinet         -3.961         0.388          2.878          0              0              0
  62  Cabinet         -3.961         0.388          4.342          0              0              0
  63  Cabinet         -0.637         0.387          5.582          0              180            0
  64  Cabinet         -0.637         0.388          4.299          0              180            0
  65  Cabinet         -0.637         0.388          5.599          0              180            0
  66  StoveBurner     -2.924         0.924          1.712          0              180            0
  67  Drawer          -1.859         0.775          1.961          0              0              0
  68  Cabinet         -0.331         2.249          5.609          0              180            0
  69  CounterTop      -4.260         0.958          4.943          0              90             0
  70  Cabinet         -4.284         1.931          2.226          0              0              0
  71  Cabinet         -0.331         2.249          3.010          0              180            0
  72  Drawer          -3.801         0.777          5.157          0              180            0
  73  Cabinet         -4.112         1.935          5.321          0              90             0
  74  Cabinet         -3.968         0.388          3.662          0              0              0
  75  Drawer          -3.418         0.777          1.961          0              0              0
  76  Drawer          -4.090         0.777          4.661          0              90             0
  77  Faucet          -4.441         0.909          3.288          270            0              0
  78  Cabinet         -0.331         2.249          4.207          0              180            0
  79  Cabinet         -3.961         0.388          2.119          0              0              0
  80  Drawer          -0.509         0.775          5.920          0              270            0
  81  Drawer          -3.193         0.777          5.157          0              180            0
  82  Cabinet         -3.968         0.388          2.894          0              0              0
  83  Cabinet         -3.667         0.387          5.029          0              90             0
  84  StoveBurner     -2.469         0.924          1.712          0              270            0
  85  Cabinet         -1.539         0.388          2.090          0              0              0
  86  Sink            -4.190         0.921          3.279          0              0              0
  87  Cabinet         -3.641         0.387          5.029          0              90             0
  88  Cabinet         -1.583         1.931          1.777          0              0              0
  89  Drawer          -0.509         0.775          6.568          0              270            0
  90  CoffeeMachine   -0.279         0.912          6.556          0              270            0
  91  StoveKnob       -2.347         1.095          1.560          288.012        180            180
  92  StoveKnob       -2.788         1.095          1.560          288.012        180            180
  93  StoveKnob       -2.965         1.095          1.560          288.012        180            180
  94  StoveKnob       -2.512         1.095          1.560          288.012        180            180
  95  GarbageCan      -3.711         -0.030         6.376          0              270            0
  96  Toaster         -3.578         0.912          1.763          0              0              0
  97  Curtains        -4.522         2.252          3.391          90             90             0
  98  Window          -4.868         1.629          3.309          90             270            0
  99  Microwave       -2.693         1.430          1.689          0              0              0
 100  LightSwitch     -1.588         1.169          1.506          0              0              0
 101  SinkBasin       -4.196         0.780          3.276          0              270            0
 102  Fridge          -0.324         -0.001         3.602          0              0              0
 103  NorthWall
 104  EastWall
 105  SouthWall
 106  WestWall

Plan:
STEP 1: Move to the sink. | STEP 2: Pick up the fork from the sink.  | STEP 3: Open up the cabinet under the sink and put the fork in the mug under the sink. | STEP 4: Pick up the mug from under the sink.  | STEP 5: Bring the mug to the counter on the right.  | STEP 6: Put the mug on the counter above the dishwasher.  | END