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          -1.0           0              180            0
   1  Pencil          -0.690         0.747          -3.586         0              270            0              45
   2  Pen             -2.096         0.926          -2.345         0              0              0              71
   3  Potato          -0.600         0.947          -3.485         0              0              0              46
   4  Potato          -0.392         1.130          -0.665         0              270            0              63
   5  ButterKnife     -2.666         0.923          -2.115         0              0              0              71
   6  Pot             -1.129         0.935          -3.498         0              0              0              44
   7  Spatula         -2.438         0.938          -1.884         0              90             0              71
   8  Plate           -0.293         0.918          -3.771         0              0              0              46
   9  Cup             -0.222         0.914          -3.368         0              0              0              46
  10  Cup             -0.600         0.914          -3.839         0              0              0              46
  11  Egg             -0.053         0.948          -1.800         0              0              0              64
  12  Tomato          -0.246         1.454          -0.560         0              270            0              63
  13  Tomato          -0.441         1.454          -0.874         0              270            0              63
  14  Lettuce         -0.743         1.008          -3.626         0              0              0              46
  15  PepperShaker    -0.743         0.912          -3.768         0              0              0              46
  16  Apple           -2.438         0.996          -1.193         0              0              0              71
  17  Lettuce         -2.562         1.002          -1.677         36.385         0              0              71
  18  Glassbottle     -2.096         0.924          -1.884         0              0              0              71
  19  Egg             -2.552         0.956          -1.193         0              0              0              71
  20  Pen             -2.552         0.926          -1.423         0              0              0              71
  21  Fork            -0.398         0.797          -2.082         0              180            0              64
  22  SoapBottle      -2.096         0.922          -1.654         0              0              0              71
  23  Pencil          -0.449         0.747          -3.238         0              90             0              57
  24  WineBottle      -0.457         0.916          -3.555         0              0              0              46
  25  Spatula         -2.096         0.938          -2.345         0              0              0              71
  26  Bread           -0.343         1.151          -0.979         0              270            0              63
  27  Tomato          -2.006         0.090          -3.763         0              0              0              62
  28  Pan             -2.174         0.913          -1.099         0              0              0              71
  29  Cup             -2.780         0.922          -1.884         0              0              0              71
  30  Pot             -1.515         0.935          -3.497         0              0              0              43
  31  SaltShaker      -0.180         1.966          -2.249         0              0              0              53
  32  Potato          -0.268         1.722          -0.560         0              270            0              63
  33  PepperShaker    -0.508         0.743          -3.238         0              0              0              57
  34  ButterKnife     -2.324         0.923          -1.884         0              0              0              71
  35  DishSponge      -0.778         0.746          -3.527         0              0              0              45
  36  Spoon           -2.324         0.924          -1.193         0              0              0              71
  37  Plate           -2.780         0.925          -1.654         0              0              0              71
  38  Knife           -2.269         0.920          -2.143         90             315            0              71
  39  Mug             -0.447         0.792          -1.934         0              270            0              64
  40  Bowl            -2.780         0.922          -2.345         0              0              0              71
  41  Cabinet         -0.582         0.388          -1.804         0              0              0
  42  StoveBurner     -1.515         0.928          -3.752         0              90             0
  43  StoveBurner     -1.515         0.928          -3.497         0              0              0
  44  StoveBurner     -1.129         0.928          -3.498         0              0              0
  45  Drawer          -0.749         0.779          -3.551         0              0              0
  46  CounterTop      -0.303         0.951          -2.793         0              0              0
  47  Cabinet         -0.883         2.140          -3.687         0              0              0
  48  Cabinet         -0.312         2.140          -1.543         0              0              0
  49  Sink            -0.349         0.907          -2.014         0              0              0
  50  Cabinet         -0.877         0.388          -3.422         0              0              0
  51  Cabinet         -0.582         0.388          -2.197         0              0              0
  52  Cabinet         -0.584         0.388          -3.396         0              0              0
  53  Cabinet         -0.312         2.140          -2.481         0              0              0
  54  Cabinet         -0.330         1.921          -3.390         0              0              0
  55  Cabinet         -1.764         2.140          -3.687         0              0              0
  56  StoveBurner     -1.129         0.928          -3.752         0              90             0
  57  Drawer          -0.454         0.779          -3.268         0              0              0
  58  Cabinet         -0.302         1.916          -2.501         0              0              0
  59  Microwave       -1.317         1.517          -3.801         0              1.440          0
  60  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  61  LightSwitch     -4.323         1.319          0.0            0              180            0
  62  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  63  Fridge          -0.330         0.0            -0.769         0              270            0
  64  SinkBasin       -0.350         0.786          -2.018         0              270            0
  65  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  66  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  67  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  68  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  69  Toaster         -0.181         0.903          -2.764         0              270            0
  70  Window          -2.503         1.782          -4.185         90             180            0
  71  DiningTable     -2.432         0.000          -1.694         0              270            0
  72  Shelf           -2.432         0.150          -1.694         0              270            0
  73  Blinds          -2.536         2.699          -3.959         0              0              0
  74  Faucet          -0.079         0.904          -2.034         270            180            0
  75  Chair           -3.264         0.002          -2.094         0              53.280         0
  76  Chair           -3.240         0.002          -1.253         0              117.257        0
  77  Shelf           -2.432         0.523          -1.694         0              270            0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn left facing the sink on your left | STEP 2: Pick up the fork in the sink | STEP 3: Put the fork in the mug at the sink | STEP 4: Pick up the mug with fork | STEP 5: Turn left then face the stove | STEP 6: Put the mug with fork on the counter on your left | END