Task: Put a 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           -2.25          0.900          2.75           0              180            0
   1  Potato          0.661          0.935          -1.610         0              0              0              62
   2  Ladle           -0.106         0.969          0.041          0              0              0              70
   3  Ladle           1.726          0.955          1.408          0              0              0              62
   4  Kettle          0.083          0.761          -1.380         0              0              0              86
   5  Kettle          0.214          0.926          0.738          0              0              0              70
   6  Fork            0.000          0.926          1.202          0              0              0              70
   7  Spoon           0.321          0.926          0.506          0              0              0              70
   8  Spoon           0.750          0.672          -1.301         0              0              0              43
   9  Spatula         -0.261         0.775          -1.490         0              90             0              86
  10  Pot             1.975          0.938          0.384          0              180            0              48
  11  Cup             -0.106         0.923          0.970          0              0              0              70
  12  Cup             1.900          0.909          1.484          0              0              0              62
  13  Cup             2.039          1.657          -1.053         0              270            0              50
  14  PepperShaker    0.082          0.109          -1.471         0              0              0              51
  15  Apple           -1.668         0.964          -1.610         0              0              0              62
  16  Apple           -0.002         0.813          -1.546         0              0              0              86
  17  SoapBottle      -0.320         0.929          0.041          0              0              0              70
  18  Cup             -1.697         1.674          -0.175         0              90             0              85
  19  Pot             0.107          0.929          0.506          0              0              0              70
  20  Fork            0.889          0.912          -1.415         0              0              0              62
  21  Ladle           -0.213         0.969          0.273          0              0              0              70
  22  Kettle          1.839          0.912          -0.131         0              0              0              62
  23  Egg             1.924          1.063          -0.808         0              270            0              83
  24  Plate           -1.814         0.910          -0.964         0              0              0              62
  25  Pan             1.975          0.938          0.819          0              180            0              72
  26  Lettuce         -1.697         1.753          0.201          0              90             0              85
  27  Spatula         0.256          0.775          -1.546         0              90             0              86
  28  Apple           1.726          0.964          1.032          0              0              0              62
  29  Knife           0.214          0.947          1.202          0              0              0              70
  30  SaltShaker      -0.213         0.921          0.738          0              0              0              70
  31  PepperShaker    2.039          1.655          -1.280         0              270            0              50
  32  CellPhone       -0.106         0.923          -0.190         0              0              0              70
  33  ButterKnife     0.000          0.925          0.738          0              0              0              70
  34  Bread           0.256          0.987          -0.076         0              330.886        0              70
  35  Tomato          1.559          0.966          -0.131         0              0              0              62
  36  Potato          -1.783         0.863          0.201          0              90             0              85
  37  DishSponge      -1.796         0.040          1.288          0              270            0              76
  38  Spoon           1.658          0.763          1.365          0              270            0              68
  39  Mug             -1.592         1.464          -0.081         0              0              0              85
  40  Bowl            -0.320         0.924          -0.190         0              0              0              70
  41  Cabinet         -0.495         0.474          -1.149         0              0              0
  42  Window          -0.010         1.582          -1.821         0              0              0
  43  Drawer          0.805          0.475          -1.159         0              0              0
  44  StoveBurner     1.764          0.902          0.601          0              270            0
  45  Drawer          1.5            0.196          -0.019         0              0              0
  46  Drawer          1.5            0.629          -0.018         0              0              0
  47  Drawer          1.5            0.602          -0.019         0              270            0
  48  StoveBurner     1.975          0.902          0.384          0              270            0
  49  Cabinet         -1.703         2.022          -1.453         0              90             0
  50  Cabinet         1.789          2.019          -0.819         0              270            0
  51  Cabinet         0.494          0.474          -1.149         0              0              0
  52  Cabinet         0.409          0.475          0.444          0              0              0
  53  Drawer          -0.696         0.475          -1.159         0              0              0
  54  Drawer          1.5            0.140          0.599          0              270            0
  55  Cabinet         1.389          0.474          -1.149         0              0              0
  56  Drawer          1.5            0.305          0.600          0              0              0
  57  StoveBurner     1.975          0.902          0.601          0              270            0
  58  Drawer          1.5            0.429          -0.019         0              0              0
  59  StoveBurner     1.764          0.902          0.819          0              270            0
  60  Drawer          1.5            0.519          1.220          0              0              0
  61  Cabinet         1.705          2.019          -1.449         0              0              0
  62  CounterTop      0.002          0.947          -1.513         0              0              0
  63  Drawer          1.5            0.629          0.605          0              0              0
  64  Cabinet         -0.627         2.019          -1.449         0              0              0
  65  StoveBurner     1.764          0.902          0.384          0              270            0
  66  Drawer          1.5            0.538          0.600          0              0              0
  67  Sink            0.0            0.893          -1.434         0              0              0
  68  Drawer          1.5            0.782          1.220          0              270            0
  69  Window          2.217          1.565          -0.384         0              0              0
  70  CounterTop      -0.014         0.961          0.505          0              0              0
  71  Drawer          1.5            0.200          1.220          0              0              0
  72  StoveBurner     1.975          0.902          0.819          0              270            0
  73  Window          -3.240         1.616          2.693          0              270            0
  74  Cabinet         -1.389         0.474          -1.149         0              0              0
  75  LightSwitch     -0.153         1.291          3.700          0              180            0
  76  GarbageCan      -1.796         0.009          1.330          0              270            358.295
  77  StoveKnob       1.602          0.917          0.570          0              270            180
  78  StoveKnob       1.602          0.917          0.625          0              270            180
  79  StoveKnob       1.602          0.917          0.739          0              270            180
  80  StoveKnob       1.602          0.917          0.680          0              270            180
  81  StoveKnob       1.602          0.917          0.462          0              270            180
  82  StoveKnob       1.602          0.917          0.517          0              270            180
  83  Microwave       1.932          0.899          -0.766         0              270            0
  84  CoffeeMachine   1.355          0.899          -1.596         0              0              0
  85  Fridge          -1.764         0.0            0.014          0              90             0
  86  SinkBasin       -0.014         0.736          -1.435         0              0              0
  87  Toaster         1.977          0.900          -0.336         0              270            0
  88  Faucet          -0.020         1.137          -1.605         0              270            0
  89  Chair           -9.354         0.000          1.242          0              180            0
  90  NorthWall
  91  EastWall
  92  SouthWall
  93  WestWall

Plan:
STEP 1: Move to the counter left of the sink.  | STEP 2: Pick up the fork from the counter.  | STEP 3: Bring the fork to the table.  | STEP 4: Put the fork in the mug on the table.  | STEP 5: Pick up the mug on the table. | STEP 6: Bring the mug to the sink.  | STEP 7: Put the mug in the sink.  | END