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          -0.5           0              270            0
   1  Glassbottle     -0.365         0.916          -3.368         0              0              0              48
   2  Pencil          -0.661         0.746          -3.527         0              90             0              47
   3  WineBottle      -0.685         0.083          -3.662         0              0              0              52
   4  Pot             -1.515         0.935          -3.497         0              0              0              45
   5  Spoon           -2.210         0.924          -1.423         0              0              0              73
   6  Spoon           -2.552         0.924          -1.884         0              0              0              73
   7  Knife           -2.438         0.946          -1.654         0              90             0              73
   8  Plate           -0.295         1.393          -0.979         0              270            0              65
   9  Cup             -1.151         1.629          -3.903         0              0              0              61
  10  Egg             -2.780         0.956          -0.963         0              0              0              73
  11  SoapBottle      -2.552         0.922          -1.423         0              0              0              73
  12  SoapBottle      -0.260         1.529          -3.603         0              45             0              56
  13  Bowl            -0.671         0.914          -3.697         0              0              0              48
  14  Bread           -0.392         1.151          -0.560         0              270            0              65
  15  SaltShaker      -0.308         1.527          -3.761         0              45             0              56
  16  SaltShaker      -0.749         0.742          -3.497         0              0              0              47
  17  PepperShaker    -0.436         0.912          -2.563         0              0              0              48
  18  Apple           -2.438         0.996          -2.115         0              0              0              73
  19  Lettuce         -2.780         1.016          -1.423         0              0              0              73
  20  Glassbottle     -1.943         0.027          -3.799         0              0              0              64
  21  Egg             -0.392         1.131          -0.769         0              270            0              65
  22  Pen             -0.222         0.918          -3.771         0              0              0              48
  23  Fork            -2.666         0.924          -2.115         0              0              0              73
  24  SoapBottle      -2.324         0.922          -1.654         0              0              0              73
  25  Pencil          -2.552         0.923          -1.884         0              0              0              73
  26  WineBottle      -2.324         0.924          -2.115         0              0              0              73
  27  Spatula         -0.3           0.915          -2.544         0              22.903         0              48
  28  Bread           -0.343         1.443          -0.560         0              270            0              65
  29  Tomato          -0.254         0.861          -2.155         0              270            0              66
  30  Pan             -0.308         1.690          -0.560         0              0              0              65
  31  Cup             -0.180         1.969          -1.663         0              0              0              50
  32  Pot             -1.129         0.935          -3.498         0              0              0              46
  33  SaltShaker      -0.528         0.912          -3.909         0              0              0              48
  34  Potato          -0.268         1.722          -0.979         0              270            0              65
  35  PepperShaker    -2.324         0.919          -2.345         0              0              0              73
  36  ButterKnife     -2.210         0.923          -2.115         0              0              0              73
  37  DishSponge      -0.222         0.915          -3.570         0              0              0              48
  38  Spoon           -0.457         0.916          -3.555         0              0              0              48
  39  Plate           -0.392         1.101          -0.979         0              270            0              65
  40  Knife           -2.324         0.946          -1.193         0              90             0              73
  41  Mug             -2.324         0.918          -1.884         0              0              0              73
  42  Bowl            -2.438         0.922          -0.963         0              0              0              73
  43  Cabinet         -0.582         0.388          -1.804         0              0              0
  44  StoveBurner     -1.515         0.928          -3.752         0              90             0
  45  StoveBurner     -1.515         0.928          -3.497         0              0              0
  46  StoveBurner     -1.129         0.928          -3.498         0              0              0
  47  Drawer          -0.749         0.779          -3.551         0              0              0
  48  CounterTop      -0.303         0.951          -2.793         0              0              0
  49  Cabinet         -0.883         2.140          -3.687         0              0              0
  50  Cabinet         -0.312         2.140          -1.543         0              0              0
  51  Sink            -0.349         0.907          -2.014         0              0              0
  52  Cabinet         -0.877         0.388          -3.422         0              0              0
  53  Cabinet         -0.582         0.388          -2.197         0              0              0
  54  Cabinet         -0.584         0.388          -3.396         0              0              0
  55  Cabinet         -0.312         2.140          -2.481         0              0              0
  56  Cabinet         -0.330         1.921          -3.390         0              0              0
  57  Cabinet         -1.764         2.140          -3.687         0              0              0
  58  StoveBurner     -1.129         0.928          -3.752         0              90             0
  59  Drawer          -0.454         0.779          -3.268         0              0              0
  60  Cabinet         -0.302         1.916          -2.501         0              0              0
  61  Microwave       -1.317         1.517          -3.801         0              1.440          0
  62  CoffeeMachine   -0.153         0.903          -3.144         0              270            0
  63  LightSwitch     -4.323         1.319          0.0            0              180            0
  64  GarbageCan      -1.943         -7.152         -3.763         0              0              0
  65  Fridge          -0.330         0.0            -0.769         0              270            0
  66  SinkBasin       -0.350         0.786          -2.018         0              270            0
  67  StoveKnob       -1.582         1.082          -3.958         72.287         0              0
  68  StoveKnob       -1.177         1.082          -3.958         72.287         0              0
  69  StoveKnob       -1.424         1.082          -3.958         72.287         0              0
  70  StoveKnob       -1.028         1.082          -3.958         72.287         0              0
  71  Toaster         -0.181         0.903          -2.764         0              270            0
  72  Window          -2.503         1.782          -4.185         90             180            0
  73  DiningTable     -2.432         0.000          -1.694         0              270            0
  74  Shelf           -2.432         0.150          -1.694         0              270            0
  75  Blinds          -2.536         2.699          -3.959         0              0              0
  76  Faucet          -0.079         0.904          -2.034         270            180            0
  77  Chair           -3.264         0.002          -2.094         0              53.280         0
  78  Chair           -3.240         0.002          -1.253         0              117.257        0
  79  Shelf           -2.432         0.523          -1.694         0              270            0
  80  NorthWall
  81  EastWall
  82  SouthWall
  83  WestWall

Plan:
STEP 1: Turn left the walk straight, turn left facing the end of the table | STEP 2: Pick up the fork beside the tomato on the table | STEP 3: Turn right then go to the other side of the table on your left | STEP 4: Put the fork in the mug | STEP 5: Pick up the mug with fork | STEP 6: Turn right then head to the counter  | STEP 7: Put the mug with fork on the counter beside the coffee maker | END