Task: Place a mug with a fork in it onto the round kitchen table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          2.25           0              270            0
   1  Potato          2.137          1.550          5.876          0              270            0              80
   2  Potato          2.051          1.550          5.376          0              0              0              80
   3  DishSponge      0.305          0.759          6.479          0              270            0              94
   4  DishSponge      1.019          1.579          0.295          0              0              0              65
   5  ButterKnife     0.803          0.772          0.507          0              0              0              50
   6  Kettle          1.495          2.208          4.131          0              0              0              46
   7  Pot             1.559          0.988          4.294          0              0              0              56
   8  Spoon           1.493          0.993          1.577          0              0              0              58
   9  Fork            -0.034         0.760          6.632          0              90             0              94
  10  Fork            -0.096         0.760          6.632          0              90             0              94
  11  Fork            1.332          0.896          2.525          0              90             0              81
  12  Egg             0.923          1.042          0.670          0              0              0              58
  13  Knife           0.169          0.789          6.807          0              225            0              94
  14  Knife           -0.611         1.022          0.670          0              0              0              58
  15  Tomato          2.009          1.565          5.251          0              270            0              80
  16  Tomato          0.125          0.809          6.851          0              225            0              94
  17  SaltShaker      1.135          0.987          4.762          0              0              0              59
  18  SaltShaker      1.238          0.135          3.217          0              0              0              69
  19  Bread           1.135          1.062          1.350          0              0              0              58
  20  Mug             1.384          1.043          0.847          0              270            0              58
  21  Apple           -0.003         0.834          6.354          0              270            0              94
  22  Apple           2.137          1.590          5.626          0              270            0              80
  23  Bowl            1.490          0.139          2.646          0              0              0              70
  24  Bread           -0.467         0.829          6.604          0              270            0              94
  25  Egg             0.014          0.810          6.217          0              135            0              94
  26  Knife           1.348          0.801          3.223          0              0              0              51
  27  Fork            1.293          0.772          4.680          0              90             0              48
  28  Apple           2.137          1.590          5.251          0              270            0              80
  29  Kettle          1.32           0.988          3.848          0              0              0              57
  30  Plate           0.847          0.993          0.212          0              0              0              58
  31  SaltShaker      0.150          0.755          6.291          0              270            0              94
  32  Lettuce         -0.459         1.081          0.486          0              0              0              58
  33  SoapBottle      -0.284         0.760          6.941          0              0              0              94
  34  Spatula         1.276          0.905          1.983          0              180            0              81
  35  PaperTowelRoll  1.135          1.096          4.624          0              0              0              59
  36  Pot             1.317          0.988          4.294          0              0              0              53
  37  Potato          1.497          0.925          2.525          0              90             0              81
  38  ButterKnife     -0.159         0.760          6.787          0              0              0              94
  39  PepperShaker    0.046          1.574          0.207          0              0              0              71
  40  Pan             0.674          0.141          0.497          0              0              0              64
  41  Tomato          2.009          1.565          5.876          0              270            0              80
  42  DishSponge      -0.221         0.759          6.323          0              0              0              94
  43  Cup             1.314          0.988          3.137          0              0              0              58
  44  Spoon           -0.535         0.993          0.303          0              0              0              58
  45  Mug             1.225          0.987          0.213          0              180            0              58
  46  Cabinet         1.307          2.455          4.360          0              0              0
  47  Cabinet         1.054          0.422          1.710          0              0              0
  48  Drawer          1.280          0.808          4.718          0              0              0
  49  Cabinet         1.307          2.455          3.607          0              0              0
  50  Drawer          0.736          0.802          0.521          0              0              0
  51  Drawer          1.276          0.802          3.291          0              0              0
  52  StoveBurner     1.562          0.982          3.848          0              0              0
  53  StoveBurner     1.317          0.982          4.294          0              0              0
  54  Drawer          -0.482         0.802          0.521          0              0              0
  55  Drawer          0.124          0.802          0.521          0              0              0
  56  StoveBurner     1.559          0.982          4.294          0              0              0
  57  StoveBurner     1.320          0.982          3.848          0              0              0
  58  CounterTop      1.391          1.028          0.897          0              0              0
  59  CounterTop      1.391          1.028          4.716          0              0              0
  60  Cabinet         1.054          0.422          4.548          0              0              0
  61  Cabinet         1.317          2.134          0.517          0              0              0
  62  Cabinet         1.317          2.134          4.889          0              0              0
  63  Cabinet         1.317          2.134          3.095          0              0              0
  64  Cabinet         0.443          0.422          0.743          0              0              0
  65  Cabinet         1.270          2.134          0.434          0              0              0
  66  Cabinet         -0.775         0.422          0.743          0              0              0
  67  Cabinet         -0.168         0.422          0.743          0              0              0
  68  Cabinet         1.317          2.134          1.534          0              0              0
  69  Cabinet         1.054          0.422          2.990          0              0              0
  70  Cabinet         1.054          0.422          2.944          0              0              0
  71  Cabinet         -0.263         2.134          0.434          0              0              0
  72  Cabinet         0.252          2.134          0.434          0              0              0
  73  Sink            1.391          1.006          2.326          0              0              0
  74  Microwave       0.108          0.981          0.262          0              0              0
  75  HousePlant      -0.165         0.826          6.444          0              0              0
  76  CoffeeMachine   1.551          0.982          0.953          0              270            0
  77  Toaster         1.473          0.981          4.715          0              270            0
  78  Window          -2.065         1.916          3.626          90             90             0
  79  Window          1.763          2.007          2.299          90             270            0
  80  Fridge          2.035          0.0            5.625          0              0              0
  81  SinkBasin       1.387          0.880          2.338          0              90             0
  82  GarbageCan      2.001          -0.044         6.503          0              0              0
  83  StoveKnob       1.140          0.934          3.987          45             270            0
  84  StoveKnob       1.140          0.934          4.309          45             270            0
  85  StoveKnob       1.140          0.934          4.140          45             270            0
  86  StoveKnob       1.140          0.934          3.824          45             270            0
  87  Vase            -0.226         0.834          6.993          0              0              0
  88  Vase            2.098          0.043          7.070          0              257.232        0
  89  Vase            -0.594         0.835          6.130          0              225            0
  90  LightSwitch     -2.0           1.549          6.045          0              90             0
  91  Safe            2.046          1.072          7.054          0              257.232        0
  92  Faucet          1.534          1.025          2.371          0              294.391        0
  93  Blinds          1.738          2.563          2.312          0              90             0
  94  DiningTable     -0.156         0.000          6.474          0              0              0
  95  Chair           0.291          0.002          6.142          0              310.162        0
  96  GarbageBag      -1.092         0.318          0.268          270            90             83.492
  97  NorthWall
  98  EastWall
  99  SouthWall
 100  WestWall

Plan:
STEP 1: Turn around and walk over to the sink. | STEP 2: Pick up the metal fork out of the left sink basin. | STEP 3: Turn right and walk over to the coffee machine on the counter. | STEP 4: Place the metal fork inside the mug that is on the counter in the coffee machine. | STEP 5: Pick up the coffee mug with a metal fork in it. | STEP 6: Turn left and walk across the room, then hang a left once at the round kitchen table. | STEP 7: Place the coffee mug with a fork in it onto the round kitchen table just below the pepper grinder. | END