Task: Putting a black mug with a fork in it on a counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.901          1.75           0              270            0
   1  DishSponge      -2.269         0.661          0.464          0              0              0              62
   2  DishSponge      -0.400         0.900          2.731          0              0              0              77
   3  ButterKnife     -2.377         0.662          0.409          0              0              0              62
   4  Spatula         -2.485         0.677          0.355          0              90             0              62
   5  Fork            -1.094         0.796          0.281          0              90             0              72
   6  Pot             -0.535         0.928          4.274          0              0              0              58
   7  Cup             -0.143         0.900          2.731          0              0              0              77
   8  Cup             -2.686         0.900          2.309          0              0              0              75
   9  Plate           -2.805         0.636          4.352          0              90             0              71
  10  Knife           -0.486         0.926          3.535          0              0              0              77
  11  Knife           -0.657         0.926          2.530          0              90             0              77
  12  SoapBottle      -2.377         0.900          2.706          0              0              0              75
  13  Tomato          -0.143         0.964          2.530          0              0              0              77
  14  Tomato          -1.904         0.992          0.518          0              0              0              54
  15  Bowl            -0.194         1.770          0.160          0              0              0              53
  16  PepperShaker    -2.995         0.896          2.573          0              0              0              75
  17  PepperShaker    -1.662         0.658          0.300          0              0              0              57
  18  Lettuce         -2.847         1.266          4.501          0              90             0              71
  19  Lettuce         -0.486         0.980          2.329          0              0              0              77
  20  Mug             -2.691         0.294          4.575          0              90             0              71
  21  Mug             -0.244         1.013          0.235          0              0              0              73
  22  Egg             -0.244         1.056          0.108          0              0              0              73
  23  Plate           -2.246         1.777          0.251          0              0              0              50
  24  Fork            -0.228         0.901          2.932          0              0              0              77
  25  Bread           -2.892         0.957          2.309          0              0              0              75
  26  Apple           -0.921         0.852          0.337          0              0              0              72
  27  Lettuce         -2.480         0.980          2.441          0              0              0              75
  28  Spatula         -2.549         0.950          3.302          0              90             0              61
  29  Knife           -2.789         0.926          2.706          0              0              0              75
  30  Potato          -0.403         1.044          0.235          0              0              0              73
  31  Tomato          -2.789         0.964          1.913          0              0              0              75
  32  Cup             -2.722         1.186          4.278          0              90             0              71
  33  SaltShaker      -2.161         0.658          0.355          0              0              0              62
  34  PepperShaker    -2.628         0.931          3.673          0              0              0              61
  35  ButterKnife     -2.037         0.928          0.602          0              0              0              54
  36  SoapBottle      -0.657         0.900          2.329          0              0              0              77
  37  Pan             -0.250         0.926          4.651          0              0              0              56
  38  DishSponge      -2.747         0.053          0.335          0              26.101         0              68
  39  Pot             -0.572         0.900          3.334          0              0              0              77
  40  Spoon           -2.377         0.901          2.177          0              0              0              75
  41  Mug             -1.266         0.790          0.281          0              0              0              72
  42  Bowl            -2.037         0.924          0.348          0              0              0              54
  43  Drawer          -0.325         0.696          0.413          0              0              0
  44  Cabinet         -0.595         0.490          0.648          0              0              0
  45  Cabinet         -0.555         0.490          0.646          0              0              0
  46  Cabinet         -1.591         0.490          0.646          0              0              0
  47  Cabinet         -1.554         0.490          0.646          0              0              0
  48  Cabinet         -2.550         0.490          0.646          0              0              0
  49  Cabinet         -1.514         2.046          0.392          0              0              0
  50  Cabinet         -2.474         2.046          0.392          0              0              0
  51  Cabinet         -1.478         2.046          0.392          0              0              0
  52  Cabinet         -0.518         2.046          0.392          0              0              0
  53  Cabinet         -0.479         2.046          0.392          0              0              0
  54  CounterTop      -1.366         0.952          0.349          0              0              0
  55  Sink            -1.108         0.926          0.340          0              0              0
  56  StoveBurner     -0.254         0.922          4.672          0              0              0
  57  Drawer          -1.824         0.696          0.413          0              0              0
  58  StoveBurner     -0.535         0.922          4.274          0              0              0
  59  StoveBurner     -0.254         0.922          4.274          0              0              0
  60  StoveBurner     -0.536         0.922          4.672          0              0              0
  61  CounterTop      -2.780         0.971          3.487          0              0              0
  62  Drawer          -2.323         0.696          0.413          0              0              0
  63  StoveKnob       -0.064         1.090          4.632          0              0              73.865
  64  StoveKnob       -0.064         1.090          4.782          0              0              73.865
  65  StoveKnob       -0.064         1.090          4.382          0              0              73.865
  66  StoveKnob       -0.064         1.090          4.222          0              0              73.865
  67  Toaster         -0.286         0.861          3.520          0              270            0
  68  GarbageCan      -2.816         -0.014         0.370          358.702        26.614         2.400
  69  LightSwitch     -0.064         1.447          1.996          0              270            0
  70  Window          -3.075         1.593          1.361          90             90             0
  71  Fridge          -2.802         0.0            4.427          0              0              0
  72  SinkBasin       -1.106         0.785          0.337          0              0              0
  73  Microwave       -0.358         0.917          0.224          0              0              0
  74  CoffeeMachine   -2.938         0.925          3.605          0              90             0
  75  DiningTable     -2.733         -0.003         2.607          0              270            0
  76  Faucet          -1.077         0.920          0.028          270            270            0
  77  DiningTable     -0.488         -0.003         3.182          0              270            0
  78  NorthWall
  79  EastWall
  80  SouthWall
  81  WestWall

Plan:
STEP 1: Turn left and go to the sink | STEP 2: Grab the fork out of the sink | STEP 3: Move slightly to the right | STEP 4: Put the fork in the black mug in the sink | STEP 5: Grab the mug out of the sink | STEP 6: Turn right and stop at the counter | STEP 7: Put the mug on the counter | END