Task: Place a mug with a fork in it on the kitchen 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: Turn around and move to the sink next to the dishwasher. | STEP 2: Pick up the fork in the sink to the right of the tomato. | STEP 3: Open the cabinet door underneath the sink and next to the dishwasher. Place the fork in the mug in the cabinet. | STEP 4: Pick up the mug in the cabinet underneath the sink and close the cabinet door. | STEP 5: Turn right and move toward the counter with the pencil on top of it and then turn left and face the area of the counter to the right of the dishwasher. | STEP 6: Set the mug with the fork in it down on the edge of the kitchen counter slightly right of the dishwasher. | END