Task: Put the mug with fork  on the table

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          0.914          1.5            0              0              0
   1  DishSponge      -3.508         1.458          3.073          0              0              0              53
   2  DishSponge      -2.309         0.080          3.586          0              0              0              57
   3  ButterKnife     -1.259         0.891          0.461          0              90             0              82
   4  Pot             -3.424         0.966          2.374          0              0              0              52
   5  Egg             -0.440         1.309          4.027          0              180            0              72
   6  Egg             -3.368         0.950          3.827          0              0              0              46
   7  Cup             -1.259         0.891          -0.053         0              90             0              82
   8  Knife           -3.272         0.939          1.440          0              270            0              55
   9  Knife           -1.919         0.939          4.020          0              0              0              46
  10  Tomato          -1.857         0.858          3.662          0              0              0              76
  11  Tomato          -0.206         1.610          4.033          0              180            0              72
  12  SoapBottle      -2.905         0.915          3.890          0              0              0              46
  13  Bowl            -0.790         1.540          4.102          0              180            0              72
  14  Bowl            -0.439         0.721          3.843          0              180            0              72
  15  SaltShaker      -1.127         0.887          -0.053         0              90             0              82
  16  SaltShaker      -3.559         0.912          1.273          0              0              0              55
  17  PepperShaker    -3.186         0.743          3.356          0              0              0              56
  18  PepperShaker    -3.041         0.077          2.752          0              0              0              59
  19  Lettuce         -1.259         0.977          0.358          0              180            0              82
  20  Mug             -3.426         1.990          2.363          0              0              0              61
  21  Apple           -3.654         0.975          1.607          0              0              0              55
  22  Apple           -3.473         1.606          2.120          0              90             0              77
  23  Egg             -0.323         1.576          3.999          0              180            0              72
  24  Knife           -3.654         0.939          1.189          0              90             0              55
  25  Fork            -1.523         0.892          0.255          0              90             0              82
  26  Bread           -2.402         0.996          4.106          0              0              0              46
  27  Potato          -1.391         0.923          0.255          0              90             0              82
  28  Plate           -3.006         0.904          3.677          0              0              0              46
  29  Pot             -3.424         0.966          1.971          0              0              0              54
  30  Kettle          -3.463         0.916          2.844          0              0              0              46
  31  WineBottle      -3.231         0.084          1.591          0              0              0              65
  32  Bowl            -0.089         0.985          4.114          0              180            0              72
  33  Tomato          -0.556         1.342          4.027          0              180            0              72
  34  Cup             -3.540         1.458          2.922          0              0              0              53
  35  Spatula         -3.559         0.930          1.357          0              180            0              55
  36  SoapBottle      -1.224         0.086          3.756          0              270            0              78
  37  Lettuce         -0.673         1.072          4.051          0              180            0              72
  38  Pan             -2.614         0.902          3.620          0              0              0              46
  39  Apple           -0.994         0.951          0.049          0              90             0              82
  40  SaltShaker      -2.460         0.077          3.664          0              0              0              57
  41  PepperShaker    -1.391         0.887          -0.053         0              90             0              82
  42  ButterKnife     -1.127         0.891          0.255          0              90             0              82
  43  DishSponge      -2.840         0.079          3.624          0              0              0              58
  44  Spoon           -3.081         0.916          1.524          0              0              0              55
  45  Mug             -3.558         1.990          2.363          0              90             0              61
  46  CounterTop      -3.381         0.950          3.335          0              0              0
  47  Drawer          -3.121         0.775          1.357          0              0              0
  48  Drawer          -3.121         0.777          2.916          0              0              0
  49  StoveBurner     -3.148         0.958          2.374          0              0              0
  50  Sink            -1.797         0.917          3.660          0              0              0
  51  Cabinet         -1.421         0.388          3.459          0              0              0
  52  StoveBurner     -3.424         0.958          2.374          0              0              0
  53  Cabinet         -3.365         1.931          2.676          0              0              0
  54  StoveBurner     -3.424         0.958          1.971          0              0              0
  55  CounterTop      -3.381         0.951          1.356          0              0              0
  56  Drawer          -3.121         0.781          3.295          0              0              0
  57  Cabinet         -2.205         0.388          3.459          0              0              0
  58  Cabinet         -2.963         0.388          3.459          0              0              0
  59  Cabinet         -2.992         0.388          2.683          0              0              0
  60  Cabinet         -3.352         2.205          1.715          0              0              0
  61  Cabinet         -3.352         2.205          2.653          0              0              0
  62  Cabinet         -2.189         0.388          3.466          0              0              0
  63  Cabinet         -3.365         1.931          3.963          0              0              0
  64  Cabinet         -3.365         1.931          1.056          0              0              0
  65  Cabinet         -2.992         0.388          1.037          0              0              0
  66  StoveBurner     -3.143         0.958          1.971          0              0              0
  67  StoveKnob       -3.599         1.110          2.017          0              0              105.000
  68  StoveKnob       -3.599         1.110          1.867          0              0              105.000
  69  StoveKnob       -3.599         1.110          2.267          0              0              105.000
  70  StoveKnob       -3.599         1.110          2.427          0              0              105.000
  71  Toaster         -2.654         0.902          4.064          0              180            0
  72  Fridge          -0.439         0.014          3.996          0              0              0
  73  LightSwitch     0.25           1.383          2.085          0              270            0
  74  Window          -1.430         1.338          -0.347         90             0              0
  75  CoffeeMachine   -3.550         0.902          3.274          0              90             0
  76  SinkBasin       -1.802         0.778          3.700          0              0              0
  77  Microwave       -3.484         1.430          2.182          0              90             0
  78  GarbageCan      -1.184         -0.020         3.794          0              270            0
  79  Blinds          -1.404         2.092          -0.296         0              0              0
  80  Stool           -1.373         0.014          1.048          1.214          20.754         0
  81  Faucet          -1.788         0.903          3.931          270            90             0
  82  DiningTable     -1.399         0.010          0.238          0              0              0
  83  GarbageBag      -0.291         0.336          -0.034         272.372        348.812        147.313
  84  NorthWall
  85  EastWall
  86  SouthWall
  87  WestWall

Plan:
STEP 1: Turn left then head to the right side of the table | STEP 2: Pick up the fork on the table  | STEP 3: Turn left then walk straight turn left on right side of the cabinet above the microwave | STEP 4: Open the cabinet then put in the fork in the mug  | STEP 5: Pick up the mug with fork then close the cabinet | STEP 6: Turn left walk across the room walk straight on the left side of the table | STEP 7: Put the mug with fork on the table | END