Task: Put the mug with fork 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           0.0            0.900          1.25           0              180            0
   1  Pan             0.771          0.990          0.395          0              0              0              60
   2  ButterKnife     0.192          0.771          0.507          0              0              0              57
   3  Pot             1.562          0.988          3.848          0              0              0              54
   4  Spoon           -0.467         0.761          6.541          0              270            0              96
   5  Spoon           0.192          0.773          0.451          0              0              0              57
   6  Spatula         -0.034         0.775          6.323          0              90             0              96
   7  Spatula         1.497          0.906          2.525          0              0              0              83
   8  Fork            1.332          0.891          2.422          0              180            0              83
   9  Egg             1.135          1.042          4.808          0              0              0              61
  10  Cup             0.544          0.988          0.670          0              0              0              60
  11  Cup             0.332          0.140          0.506          0              0              0              69
  12  Plate           -0.611         0.993          0.395          0              0              0              60
  13  Plate           0.958          1.580          0.251          0              0              0              67
  14  Tomato          -0.620         0.809          6.674          0              135            0              96
  15  Tomato          -0.354         0.809          6.940          0              135            0              96
  16  SoapBottle      1.135          0.992          4.716          0              0              0              61
  17  Bowl            0.147          0.759          6.349          0              135            0              96
  18  Bowl            -0.483         0.143          0.429          0              0              0              68
  19  PepperShaker    0.305          0.755          6.479          0              270            0              96
  20  SaltShaker      1.403          0.987          0.440          0              0              0              60
  21  SaltShaker      1.456          1.572          1.288          0              0              0              70
  22  Lettuce         0.104          0.848          6.653          0              225            0              96
  23  Mug             2.051          1.510          5.876          0              270            0              82
  24  Mug             0.923          0.987          0.670          0              0              0              60
  25  Bowl            1.499          1.575          4.511          0              0              0              64
  26  Bread           1.099          1.048          0.434          0              0              0              60
  27  Egg             -0.353         0.810          6.019          0              225            0              96
  28  Knife           0.923          1.022          0.303          0              90             0              60
  29  Fork            -0.158         0.760          6.604          0              270            0              96
  30  Apple           2.094          1.590          5.626          0              270            0              82
  31  Kettle          1.32           0.988          3.848          0              0              0              59
  32  Plate           0.055          0.144          0.353          0              0              0              69
  33  SaltShaker      0.055          0.139          0.658          0              0              0              69
  34  Lettuce         -0.334         0.848          6.742          0              135            0              96
  35  SoapBottle      -0.034         0.760          6.169          0              90             0              96
  36  Spatula         -0.421         0.775          6.305          0              225            0              96
  37  PaperTowelRoll  -0.221         0.864          6.787          0              180            0              96
  38  Pot             1.559          0.988          4.294          0              0              0              58
  39  Potato          1.403          1.027          2.950          0              0              0              60
  40  ButterKnife     1.293          0.770          4.717          0              180            0              50
  41  PepperShaker    -0.621         0.755          6.479          0              270            0              96
  42  Pan             1.313          0.985          4.284          0              0              0              55
  43  Tomato          2.051          1.565          6.001          0              270            0              82
  44  DishSponge      0.544          0.992          0.578          0              0              0              60
  45  Cup             2.009          1.511          5.251          0              270            0              82
  46  Spoon           0.169          0.761          6.807          0              315            0              96
  47  Mug             1.384          1.043          0.847          0              270            0              60
  48  Cabinet         1.307          2.455          4.360          0              0              0
  49  Cabinet         1.054          0.422          1.710          0              0              0
  50  Drawer          1.280          0.808          4.718          0              0              0
  51  Cabinet         1.307          2.455          3.607          0              0              0
  52  Drawer          0.736          0.802          0.521          0              0              0
  53  Drawer          1.276          0.802          3.291          0              0              0
  54  StoveBurner     1.562          0.982          3.848          0              0              0
  55  StoveBurner     1.317          0.982          4.294          0              0              0
  56  Drawer          -0.482         0.802          0.521          0              0              0
  57  Drawer          0.124          0.802          0.521          0              0              0
  58  StoveBurner     1.559          0.982          4.294          0              0              0
  59  StoveBurner     1.320          0.982          3.848          0              0              0
  60  CounterTop      1.391          1.028          0.897          0              0              0
  61  CounterTop      1.391          1.028          4.716          0              0              0
  62  Cabinet         1.054          0.422          4.548          0              0              0
  63  Cabinet         1.317          2.134          0.517          0              0              0
  64  Cabinet         1.317          2.134          4.889          0              0              0
  65  Cabinet         1.317          2.134          3.095          0              0              0
  66  Cabinet         0.443          0.422          0.743          0              0              0
  67  Cabinet         1.270          2.134          0.434          0              0              0
  68  Cabinet         -0.775         0.422          0.743          0              0              0
  69  Cabinet         -0.168         0.422          0.743          0              0              0
  70  Cabinet         1.317          2.134          1.534          0              0              0
  71  Cabinet         1.054          0.422          2.990          0              0              0
  72  Cabinet         1.054          0.422          2.944          0              0              0
  73  Cabinet         -0.263         2.134          0.434          0              0              0
  74  Cabinet         0.252          2.134          0.434          0              0              0
  75  Sink            1.391          1.006          2.326          0              0              0
  76  Microwave       0.108          0.981          0.262          0              0              0
  77  HousePlant      -0.165         0.826          6.444          0              0              0
  78  CoffeeMachine   1.551          0.982          0.953          0              270            0
  79  Toaster         1.473          0.981          4.715          0              270            0
  80  Window          -2.065         1.916          3.626          90             90             0
  81  Window          1.763          2.007          2.299          90             270            0
  82  Fridge          2.035          0.0            5.625          0              0              0
  83  SinkBasin       1.387          0.880          2.338          0              90             0
  84  GarbageCan      2.001          -0.044         6.503          0              0              0
  85  StoveKnob       1.140          0.934          3.987          45             270            0
  86  StoveKnob       1.140          0.934          4.309          45             270            0
  87  StoveKnob       1.140          0.934          4.140          45             270            0
  88  StoveKnob       1.140          0.934          3.824          45             270            0
  89  Vase            -0.226         0.834          6.993          0              0              0
  90  Vase            2.098          0.043          7.070          0              257.232        0
  91  Vase            -0.594         0.835          6.130          0              225            0
  92  LightSwitch     -2.0           1.549          6.045          0              90             0
  93  Safe            2.046          1.072          7.054          0              257.232        0
  94  Faucet          1.534          1.025          2.371          0              294.391        0
  95  Blinds          1.738          2.563          2.312          0              90             0
  96  DiningTable     -0.156         0.000          6.474          0              0              0
  97  Chair           0.291          0.002          6.142          0              310.162        0
  98  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  99  NorthWall
 100  EastWall
 101  SouthWall
 102  WestWall

Plan:
STEP 1: Turn left then head to the round table  | STEP 2: Pick up the fork on the round table | STEP 3: Turn right then walk straight to the counter with coffee maker | STEP 4: Put the fork in the mug  | STEP 5: Pick up the mug with fork  | STEP 6: Turn left then head to the sink | STEP 7: Put the mug with fork in the right side of the sink | END