Task: Put the mug with a fork in it in the sink.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          4.5            0              270            0
   1  Potato          1.135          1.027          3.417          0              0              0              56
   2  ButterKnife     0.305          0.760          6.416          0              270            0              92
   3  Pot             1.562          0.988          3.848          0              0              0              50
   4  Spoon           -0.384         0.993          0.395          0              0              0              56
   5  Spatula         0.124          0.786          0.507          0              0              0              53
   6  Egg             2.094          1.565          5.376          0              270            0              78
   7  Cup             -0.332         0.756          6.217          0              225            0              92
   8  Cup             -0.442         0.756          6.107          0              225            0              92
   9  Plate           1.322          0.141          3.291          0              0              0              67
  10  Knife           -0.413         0.801          0.507          0              0              0              52
  11  Knife           0.600          0.802          0.451          0              90             0              48
  12  Tomato          2.137          1.565          6.001          0              270            0              78
  13  Bowl            0.055          0.143          0.277          0              0              0              65
  14  SaltShaker      1.490          0.135          2.498          0              0              0              68
  15  SaltShaker      -0.034         0.755          6.014          0              0              0              92
  16  Bread           -0.467         0.829          6.604          0              270            0              92
  17  Mug             1.495          2.202          4.262          0              0              0              44
  18  Mug             1.140          1.574          0.163          0              0              0              63
  19  Mug             1.966          1.510          5.501          0              270            0              78
  20  Apple           1.276          0.965          2.034          0              90             0              79
  21  Bowl            0.080          0.759          6.895          0              225            0              92
  22  Bread           1.099          1.048          0.434          0              0              0              56
  23  Egg             -0.221         0.810          6.632          0              0              0              92
  24  Knife           0.871          0.802          0.451          0              90             0              48
  25  Fork            1.225          0.993          1.350          0              0              0              56
  26  Apple           0.273          1.171          0.278          0              0              0              72
  27  Kettle          0.771          0.993          0.578          0              0              0              56
  28  Plate           0.815          0.144          0.339          0              0              0              62
  29  SaltShaker      1.135          0.987          4.808          0              0              0              57
  30  Lettuce         0.150          0.848          6.541          0              270            0              92
  31  SoapBottle      1.135          0.992          4.579          0              0              0              57
  32  Spatula         -0.621         0.775          6.479          0              270            0              92
  33  PaperTowelRoll  0.923          1.096          0.486          0              0              0              56
  34  Pot             1.317          0.988          4.294          0              0              0              51
  35  Potato          0.544          1.027          0.303          0              0              0              56
  36  ButterKnife     0.056          0.771          0.507          0              0              0              53
  37  PepperShaker    -0.531         0.755          6.763          0              135            0              92
  38  Pan             1.559          0.988          4.294          0              0              0              54
  39  Tomato          -0.687         1.042          0.486          0              0              0              56
  40  DishSponge      1.405          0.771          4.790          0              0              0              46
  41  Cup             -0.027         0.756          6.612          0              135            0              92
  42  Spoon           -0.288         0.761          6.172          0              225            0              92
  43  Mug             2.094          1.510          5.501          0              270            0              78
  44  Cabinet         1.307          2.455          4.360          0              0              0
  45  Cabinet         1.054          0.422          1.710          0              0              0
  46  Drawer          1.280          0.808          4.718          0              0              0
  47  Cabinet         1.307          2.455          3.607          0              0              0
  48  Drawer          0.736          0.802          0.521          0              0              0
  49  Drawer          1.276          0.802          3.291          0              0              0
  50  StoveBurner     1.562          0.982          3.848          0              0              0
  51  StoveBurner     1.317          0.982          4.294          0              0              0
  52  Drawer          -0.482         0.802          0.521          0              0              0
  53  Drawer          0.124          0.802          0.521          0              0              0
  54  StoveBurner     1.559          0.982          4.294          0              0              0
  55  StoveBurner     1.320          0.982          3.848          0              0              0
  56  CounterTop      1.391          1.028          0.897          0              0              0
  57  CounterTop      1.391          1.028          4.716          0              0              0
  58  Cabinet         1.054          0.422          4.548          0              0              0
  59  Cabinet         1.317          2.134          0.517          0              0              0
  60  Cabinet         1.317          2.134          4.889          0              0              0
  61  Cabinet         1.317          2.134          3.095          0              0              0
  62  Cabinet         0.443          0.422          0.743          0              0              0
  63  Cabinet         1.270          2.134          0.434          0              0              0
  64  Cabinet         -0.775         0.422          0.743          0              0              0
  65  Cabinet         -0.168         0.422          0.743          0              0              0
  66  Cabinet         1.317          2.134          1.534          0              0              0
  67  Cabinet         1.054          0.422          2.990          0              0              0
  68  Cabinet         1.054          0.422          2.944          0              0              0
  69  Cabinet         -0.263         2.134          0.434          0              0              0
  70  Cabinet         0.252          2.134          0.434          0              0              0
  71  Sink            1.391          1.006          2.326          0              0              0
  72  Microwave       0.108          0.981          0.262          0              0              0
  73  HousePlant      -0.165         0.826          6.444          0              0              0
  74  CoffeeMachine   1.551          0.982          0.953          0              270            0
  75  Toaster         1.473          0.981          4.715          0              270            0
  76  Window          -2.065         1.916          3.626          90             90             0
  77  Window          1.763          2.007          2.299          90             270            0
  78  Fridge          2.035          0.0            5.625          0              0              0
  79  SinkBasin       1.387          0.880          2.338          0              90             0
  80  GarbageCan      2.001          -0.044         6.503          0              0              0
  81  StoveKnob       1.140          0.934          3.987          45             270            0
  82  StoveKnob       1.140          0.934          4.309          45             270            0
  83  StoveKnob       1.140          0.934          4.140          45             270            0
  84  StoveKnob       1.140          0.934          3.824          45             270            0
  85  Vase            -0.226         0.834          6.993          0              0              0
  86  Vase            2.098          0.043          7.070          0              257.232        0
  87  Vase            -0.594         0.835          6.130          0              225            0
  88  LightSwitch     -2.0           1.549          6.045          0              90             0
  89  Safe            2.046          1.072          7.054          0              257.232        0
  90  Faucet          1.534          1.025          2.371          0              294.391        0
  91  Blinds          1.738          2.563          2.312          0              90             0
  92  DiningTable     -0.156         0.000          6.474          0              0              0
  93  Chair           0.291          0.002          6.142          0              310.162        0
  94  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  95  NorthWall
  96  EastWall
  97  SouthWall
  98  WestWall

Plan:
STEP 1: Turn left and go forward to the counter, then turn left to go to the counter above the dishwasher. | STEP 2: Pick up the fork on the counter in front of you. | STEP 3: Turn right and look up to the cabinets above the counter. | STEP 4: Open the leftmost cabinet and put the fork in the mug inside of the cabinet. | STEP 5: Pick up the mug from the cabinet. | STEP 6: Look down and then turn around and go straight, then turn right to face the sink. | STEP 7: Put the mug in the right sink basin. | END